Hello ,
My Current setup for outdoor localization is two ekf robot_localization nodes using 3 sensor data ( imu - rtkgps - wheel-odometry) and a Google-maps map (that specifies the contours of the streets)
Although rtk has a very accurate position , it isn't consistent . Sometimes it outputs a very inaccurate position.
I need to use laser_scan as an extra-localization source using amcl.
Now I'm confused of somethings:
1- Since my environment is outdoors ( where there are some dynamic objects : parking cars - moving cars) , How the localization could work ?
Here is a sample video of my lidar detection : [**detection sample**](https://drive.google.com/open?id=1THkHd_dxWrlHNsg4cCORkfTksk_O1hwW)
It appears that the walls as well as the cars are detected . **So how amcl deal with non static objects ?**
I plan to modify this map to add the walls in addition to the contour.
2- As documented in [amcl](http://wiki.ros.org/amcl) page : The inputs are : a map , a laser_scan and an initial pose.
There is no odometry input. **How can I use the output of an ekf node as an input to amcl ? Can I use the initial position periodically**?
Thank you
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