Re: Seeking advice for merging/deskewing lidar scans from multiple 2-d lidars

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Seeking-advice-for-merging-deskewing-lidar-scans-from-multiple-2-d-lidars-tp10767p10770.html

Yes, it is similar to your first approach, as pre-processing steps.

               wheel/imu odometry TF------------------------------
                     |             \                               \
                     v              \                               \
laser_scan1 -> lidar_deskewing       \                          --> icp_odometry 
                     |         \      \                        /            \
                     |          ---> point_cloud_aggregator ---              \icp_odom  
                     v         /                               \              \
laser_scan2 -> lidar_deskewing                                  ----------->rtabmap

You can put them in same nodelet manager if your want.

If you expect having a lot of wheels sleeping, you may combine wheel odometry with an IMU (e.g., robot_localization package) to at least having good orientation estimation all the time even if the wheels are slipping.

Regards,
Mathieu