Quadrotor: Structure sensor compatible with gmapping

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Thanks

1. What kind of a map can I view in Rviz using the Structure sensor

2. How my I avoid obstacles using the sensor.? Should I use ultrasonic sensors or will the post SLAM process take care of it?

3. How is navigation made possible?

1. You can either view the point cloud, or the scan (the output of pointcloud_to_laserscan) in Rviz.

For the other questions, you might want to skim through the navigation documention and tutorials if you haven't yet.

So I should install the navigation stack along with gmapping_slam

what about avoiding obstacles

Yes the common practice is to use gmapping to create the map that the rest of the navigation stack uses for localizaiton. This process is discussed in the tutorials. Also, if you use the navigation stack, it handles obstacle avoidance automatically using a local map.

Will I need ultrasonic sensors for ceiling, floor estimation and obstacle avoidance

Are you using a UAV? If you're a ground vehicle you won't need to know where the ceiling and ground is (the ground is alway in the same place.)

Hi

I am using the Parrot AR.Drone with PX4 autopilot
I am using the Structure Sensor for SLAM and I am sure that it will localize but will the map produced be able to avoid obstacles in all directions.

Oh I see. Yeah I'm not sure then. You'll need to analysis the feild of view of the sensor to ensure it is adequate to capture the floor and ceiling for your application. Seems doable though.