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Hey I am also new to ROS, but I can answer to some of these questions:

  1. It is not necessary to create a real kinect, you can just realize a simple box. But the origin is important for your future tf, and to correctly link the kinect to the rest of the robot.

  2. No, you still need the kinect to make it run on an known map, because amcl node subscribes to this /scan topic provided by the Kinect or laser you use. ( take a look to http://wiki.ros.org/amcl )

  3. After mapping you can give a position on your 2D map but you have to specify where is your initial position on the map first. Look at the autonomous navigation tutorial (http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map) and the amcl_demo.launch for more details.

Hope it would help.

Hey I am also new to ROS, but I can answer to some of these questions:

  1. It is not necessary to create a real kinect, you can just realize a simple box. But the origin is important for your future tf, and to correctly link the kinect to the rest of the robot.

  2. Give more details about what is the output of your encoders.

  3. No, you still need the kinect to make it run on an known map, because amcl node subscribes to this /scan topic provided by the Kinect or laser you use. ( take a look to http://wiki.ros.org/amcl )

  4. After mapping you can give a position on your 2D map but you have to specify where is your initial position on the map first. Look at the autonomous navigation tutorial (http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map) and the amcl_demo.launch for more details.

Hope it would help.