Mapping and obstacle avoidance with IR, sonars and a radar sensor


We are constructing an hexacopter drone and we would like to set simple mapping and obstacle avoidance with some IRs, sonars and a radar sensor. Almost all the libraries we have seen (hector, mrpt_slam) use ladars and/or the information processing is slow for a drone. In addition, is there any library to get the position changes of the drone using only an IMU? Do you have any suggestion on how to start? We are a little bit lost since we have never used ROS before.

Thanks in advance! :slight_smile: