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Create a map of a building with kinect only?

asked 2012-01-12 00:54:32 -0600

Cav gravatar image

updated 2016-10-24 08:59:15 -0600

ngrennan gravatar image


I want to mount a Kinect on our Coppa Robot. I'm still new to ROS etc. so my question is: will it be "enough" to create a map of a building? If I understood it correctly, TurtleBot is doing that and a lot more using Kinect only? So I'd just have to use GMapping to create a map and later amcl to estimate the position? That's it? (sounds a bit too easy) ;)

Update: it is possible only if you have really good odometry. Without it you can forget it (amcl might still work but gmapping won't).

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answered 2012-01-12 01:01:13 -0600

DimitriProsser gravatar image

You'll need the pointcloud_to_laserscan and slam_gmapping packages to accomplish this. You should have a look at turtlebot_navigation gmapping_demo.launch as a good example of how to accomplish what you want. You can find additional help in a number of questions on this board, including here.

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Ok, thanks. So Kinect is enough to accomplish all of that?
Cav gravatar image Cav  ( 2012-01-12 01:23:48 -0600 )edit
I do believe so. I've never done it myself, but there's a lot of support for it on this forum.
DimitriProsser gravatar image DimitriProsser  ( 2012-01-12 02:01:11 -0600 )edit
Great, now I just need to wait for the kinect to arrive :)
Cav gravatar image Cav  ( 2012-01-12 02:02:21 -0600 )edit

answered 2012-01-12 01:50:39 -0600

Hansg91 gravatar image

For me the most tricky part turned out to be the odometry information passing. I took the base of this tutorial :

Altered it a bit to fit my needs, but it mostly remained the same. If you need any more help, let me know ;)

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Same here, odometry is a pain. My robot does not have a stepper motor and I don't know how to calculate the speed. In my case it's just a value between 0-100. The actual speed depends on many factors (battery state, ground, laptop weight, ...) so measuring it is pointless.Any Idea how to solve that?
Cav gravatar image Cav  ( 2012-01-23 23:37:41 -0600 )edit

A good Inertial Measurement Unit might help.

joq gravatar image joq  ( 2012-03-23 04:16:37 -0600 )edit

A gyroscope and setting the speed to a fixed value helps a bit.

Cav gravatar image Cav  ( 2012-04-17 02:38:44 -0600 )edit

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Asked: 2012-01-12 00:54:32 -0600

Seen: 735 times

Last updated: Mar 23 '12