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I assume you have a self made robot or something. The gmapping and amcl (for localization only) need 3 thinks to work: - Odometry - Laser scans (can also be fake laser scans) - Transformations from the laser scan to the global position as measured by the motor encoders (which later will be corrected by the localization)

You have to figure out by your own how to code it for your robot in particular. A good starting point are the tutorials at link text.

What kind of sonar do you use? A single sonar sensor won't make it, you need to fake a laser scanner with at least 20-30 directions. Maybe a Kinect or a similar sensor would be a better choice.

I assume you have a self made robot or something. The gmapping and amcl (for localization only) need 3 thinks to work: - Odometry - Laser scans (can also be fake laser scans) - Transformations from the laser scan to the global position as measured by the motor encoders (which later will be corrected by the localization)

You have to figure out by your own how to code it for your robot in particular. A good starting point are the tutorials at link textNavigation tutorials.

What kind of sonar do you use? A single sonar sensor won't make it, you need to fake a laser scanner with at least 20-30 directions. Maybe a Kinect or a similar sensor would be a better choice.