How does the navigation work in TurtleBot

asked 2011-11-27 18:24:59 -0600

Said
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updated 2011-11-30 05:52:16 -0600

Murph
1033 ●33 ●41 ●55 http://localhost/

Hi I would like to ask about the technique that used for Mapping and navigation. dose it build a 3D map and if it how builds it and how uses it for navigation.

Thanks

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answered 2011-11-28 07:45:26 -0600

tfoote

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It uses the ROS navigation stack documented on the ros wiki navigation page

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Hi Many thanks for answer But it is most likely 2D navigation , so why TurtleBot uses kinect which is RGB-D scanner?? Cheers

Said ( 2011-11-29 14:21:36 -0600 )edit

As mentioned by @mwise_wg and @Stefan Kohlbrecher the 3D data is downsampled to 2D data. Please don't ask follow up questions in "answers" to this question. This is a directed question and answer not a forum. If you have a new follow up question, please pose it as it's own question.

tfoote ( 2011-12-12 14:06:01 -0600 )edit

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answered 2011-12-12 11:53:16 -0600

mmwise

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updated 2011-12-12 11:54:42 -0600

The TurtleBot uses the ROS navigation stack. The navigation stack requires a 2D laser scan to work. To create a 2D laser scan the kinect point cloud data is converted to a laser scan using the pointcloud_to_laserscan package in the turtlebot stack.

The pointcloud_to_laserscan package contains a nodelet called cloud_to_scan which samples the data in a region around specified height in the point cloud. Then given a set of points in an angular slice it returns the min range value for that angular slice. See the code for more details on how a point cloud is converted to a laser scan.

The TurtleBot localization primer might also be instructive: http://www.youtube.com/watch?v=C92bxCr05Gs

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Many Thanks

Said ( 2011-12-13 12:55:41 -0600 )edit

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answered 2011-11-29 12:51:01 -0600

Said
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Hi Many thanks for answer

But it is most likely 2D navigation , so why TurtleBot uses kinect which is RGB-D scanner??

Cheers

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2D navigation methods using laser scans are mature, robust methods that consume modest computational power compared to experimental RGB-D/Visual SLAM methods. The turtlebot also moves in 2D and experiences no attitude changes, so generating a fake 2D laser scan out of the RGB-D data is feasible.

Stefan Kohlbrecher ( 2011-11-29 17:33:31 -0600 )edit

traditional laser scanners are expensive >$500 where as the kinect is ~$100 and can be used to fake a 2D laser scan and provide camera images at the same time. It was an easy choice in the design.

mmwise ( 2011-11-29 21:25:55 -0600 )edit

Many Thanks But the 2D navigation methods that you are referring to are they based on line scans on depth images . Any specific "mature" & "robust" method that I can access references about it, also how do they register their RGB-D (Kinect images) Regards

Said ( 2011-12-11 10:59:29 -0600 )edit

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answered 2011-12-08 12:42:10 -0600

Said
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Many Thanks

But the 2D navigation methods that you are referring to are they based on line scans on depth images . Any specific "mature" & "robust" method that I can access references about it, also how do they register their RGB-D (Kinect images)

Regards

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