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How to proceed with this SLAM implementation on an iRobot Create with Kinect?

asked 2013-12-09 16:04:54 -0500

nemesis gravatar image

updated 2014-01-28 17:18:46 -0500

ngrennan gravatar image

I am not referring to a turtlebot. I have an iRobot Create (old one) and a Kinect connected to it. I am trying to use the kinect to generate a 2D map of the robot environment and later navigate the robot autonomously through it. I am new to ROS and was wondering if there are any tutorials that someone could suggest that describe a step by step process? If not, then can someone help me with defining an outline for how to proceed?

Till now I have this -

  • A netbook with ROS Groovy running
  • Installed the ros-brown-driver package for iCreate
  • Currently installed the Turtlebot packages as well.

I am not sure how to proceed next. This is a very beginner question so I was hoping someone could help me out?

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answered 2013-12-09 16:58:47 -0500

Sentinal_Bias gravatar image

After you have done the beginner tutorials.

I would do the tutorials in tf ( manages coordinate transforms)

There are some tutorials here

then have a look at the gmapping package, it will work with the create. It uses a 2D laser scanner and wheel odometer which the create has.

There are packages to fake a 2D lidar using the kinect.

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Like I mentioned. It's not the turtlebot. I have tried installing turtlebot packages and tried running but they don't work. I need help with respect to working with the irobot Create separately. I am having trouble starting off. I will check out the tf tutorials like you mentioned.Thank you for your reply!

nemesis gravatar image nemesis  ( 2013-12-10 10:02:47 -0500 )edit

The turtlebot packages will work with the old irobot-create. There are options in the configurations to change with mobility base you use

Sentinal_Bias gravatar image Sentinal_Bias  ( 2013-12-10 10:41:23 -0500 )edit

The kinect is giving me trouble as of now and I can't work it out.

nemesis gravatar image nemesis  ( 2013-12-10 12:04:03 -0500 )edit

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Asked: 2013-12-09 16:04:54 -0500

Seen: 960 times

Last updated: Dec 09 '13