Hi, this is my first post here
I have a 4WD differential robot with encoders, but after testing i think the encoders dont work (except 1)
So i thought go away with encoders altogether and use a 2D ydlidar,
With hector slam rf2o_laser_odometry i can publish odom required for interfacing with Navigation Stack
I also have a Kinect and will buy IMU
My problem is how to implement Closed loop PID Control since i don't have encoders to measure velocity,
can i infer velocity from the laser scan and use that for PID Control
Also can i use this inferred velocity to infer fake encoder ticks for interfacing with Ros Control?
I have a Jetson TX2 so the computing performance is good.
Thanks a lot!!
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