Implement path planning using RPLIDAR S1

asked 2023-04-12 00:10:53 -0600

Hri
1 ●2 ●1

I have been working closely with the rplidar S1 for the implementing the SLAM and path planning.In which i was able to implement the SLAM (using the hector mapping library) and have generated map using the map saver library (pgm and yaml files). Next phase i want to do the path planing using the lidar and just to draw the path between point A and point B(using 2D nav goal in the rviz) which i am trying from sometime now. Is it possible with lidar distance data only or odometry data is also compulsory for path planning, Requesting the community to guide me in this.

Details

ROS Distro version : ROS Melodic

Description : Ubuntu 18.04.6 LTS

GCC :7.50

answered 2023-04-12 05:48:35 -0600

frans
11 ●5 ●9 ●8

updated 2023-04-12 05:49:40 -0600

yes it is possible with lidar distance only. but you must doing it while making the map. you can also try using cartographer with pure localization.

in my experience using hector slam is not too good because easy to get driven map

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Is cartographer library available for rplidar S1 ? or any other library(Can you suggest) just i want to verify whether path planning can be done using this lidar or not. Because i have tried many things and most are using a robot which i don't have now.

Hri ( 2023-04-12 06:25:34 -0600 )edit

Yes. The important thing is your lidar publish topic /scan

frans ( 2023-04-15 05:29:48 -0600 )edit

@frans

you told that it should be done while making the map only, Is it the only way or planning can be done on a static generated map.

I tried cartoSLAM as well(from a online tutorial). It maps better than hector slam but still path plan is pending, Can anyone push me in such a direction where i can achieve a simple path planning using the LiDAR only and no odometry ???

Hri ( 2023-04-17 02:14:56 -0600 )edit

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