I'm a beginner in ROS and I'm trying to develop a robot that can autonomously navigate with the help of 3D Lidar data and IMU data. Using individual motor speeds as feedback for the navigation isn't an option because the robot is going to drive on sand and it is going to slip. So using IMU data is the only sure way to say it has reached its goal pose. Here is my scenario:
I have an arduino to transform cmd_vel (subscribed) data into PWM values for the motors. I have a 3D lidar with an attached IMU to help me with mapping. I'm using an open source package like LOAM/Google cartographer for the mapping part. Now my question is, how do I integrate all this to use the data from the map to produce odom values that can be converted into cmd_vel data and published to my arduino for motor control. (I'm not sure I have the scenario right, but you get the idea)
From all the reading I did online, people give vague pointers about Hector_Slam, gmapping, hector_exploration_planner, rosserial, etc. I haven't found even a single source that walks me through the steps, like,
1. Which topic generates what kind of data, which node should publish/subscribe to which topic.
2. How I can overcome not having motor encoder values by using IMU instead, etc.
Any guidance or pointers to clear tutorials, open source github packages, videos, etc will be greatly appreciated.
Thanks in advance. :)
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