How to make the robot autonomous(Real time SLAM)

Hello All

One of the biggest problems I have is, when we talk about SLAM it means doing the mapping and localize it in the same time but all the method I can see in ROS so far is not close to SLAM. For example, first with gmapping, we have to make the map and save it and after that, we need to load that map with map server and with amcl localize the robot inside this map.

What I need is to make the robot start exploring the environment and while it's avoiding the obstacles along its way and making the map at the same time.

later on, I like to detect loop closure while I'm making the map.

Is there any package in ROS that I can use to make the robot exploring autonomously and avoid the obstacle and making the map at the same time?

Any help would be appreciated. Thank you Iman

Asked by imanpakii on 2019-08-07 10:42:08 UTC

Comments

Yes. Gmapping with frontier exploration. Not sure why you don't think Gmapping is not SLAM. It is exactly SLAM.

Asked by billy on 2019-08-07 11:54:54 UTC

Thanks for your comment, But why we need to save the map and after that use that map in amcl?

Asked by imanpakii on 2019-08-07 11:59:06 UTC

Answers

You may try Hector Slam ( http://wiki.ros.org/hector_slam ) there you do not need the amcl. and gmapper is real SLAM you can navigate in the just recorded map, you do it during exploration. you save the map and use amcl because it need les resurces. you also do not distroy the map if there where a localisation error. then you have always the error with lifetime slam that you walls float away.

Asked by duck-development on 2019-08-07 12:29:56 UTC