Is it possible to use another SLAM algorithm with the nav2 stack?

Open Discussions
1

Instead of using the AMCL can I use EKF SLAM or hector SLAM?

2

Hi @oei.nick ,

Of course, definitely! All you have to do is use that package and node for SLAM in your launch files.

Regards,
Girish

3

How do I do this?
I would like to write my own ROS2 node to replace the AMCL node. I would like to do this in python as well.

4

Hi @oei.nick ,

Firstly, you have to check if the respective ROS package is installed in your computer. Then you can replace the AMCL node with the corresponding SLAM algorithm node.

I am not sure what you mean by this. If you are planning to write “your own” SLAM algorithm, then you must refer to ROS2 documentation and find how the algorithm is packaged for NavStack in ROS2.

Regards,
Girish

5

This topic was automatically closed after 5 days. New replies are no longer allowed.