Create a map of a building with kinect only?

Kinect
map

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

Cav
345 ●11 ●13 ●21

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

ngrennan
1 ●1 ●1

Hi,

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).

edit retag flag offensive close merge delete

add a comment

4

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

DimitriProsser

11163 ●79 ●116 ●169

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.

edit flag offensive delete link

Comments

Ok, thanks. So Kinect is enough to accomplish all of that?

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 ( 2012-01-12 02:01:11 -0600 )edit

Great, now I just need to wait for the kinect to arrive :)

Cav ( 2012-01-12 02:02:21 -0600 )edit

add a comment

1

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

Hansg91
1889 ●51 ●65 ●87

For me the most tricky part turned out to be the odometry information passing. I took the base of this tutorial : http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom

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

edit flag offensive delete link

Comments

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 ( 2012-01-23 23:37:41 -0600 )edit

A good Inertial Measurement Unit might help.