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Quadrotor: Structure sensor compatible with gmapping

asked 2014-10-21 10:39:50 -0500

Francis Dom gravatar image

updated 2014-10-23 19:50:14 -0500

Hi Should I make any changes when using the gmapping_slam with structure sensor as it is not a laser scanner. I was told that odometry with SLAM yields accurate results.

Will the usage of gmapping_slam with structure sensor lead to overloading problems in the ODROID-U3

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answered 2014-10-21 13:04:43 -0500

Airuno2L gravatar image

If you're operating in a 2D environment (i.e. inside) you can convert your point clouds to laser scans using the pointcloud_to_laserscan node. Then gmapping_slam will subscribe to the scan topic and it will work just the same as if a lidar was publishing it.

As for computational load, I've read about some people using the kinect with the ODROID-U3 for some tasks successfully, so I think it would be worth a shot for you to try it out to see if you can run all this on it, you might have some luck.

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  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?

Francis Dom gravatar image Francis Dom  ( 2014-10-21 22:02:04 -0500 )edit
  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.

Airuno2L gravatar image Airuno2L  ( 2014-10-22 07:08:55 -0500 )edit

So I should install the navigation stack along with gmapping_slam

what about avoiding obstacles

Francis Dom gravatar image Francis Dom  ( 2014-10-22 07:26:18 -0500 )edit

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.

Airuno2L gravatar image Airuno2L  ( 2014-10-23 07:18:19 -0500 )edit

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

Francis Dom gravatar image Francis Dom  ( 2014-10-23 07:50:29 -0500 )edit

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.)

Airuno2L gravatar image Airuno2L  ( 2014-10-23 09:17:29 -0500 )edit


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.

Francis Dom gravatar image Francis Dom  ( 2014-10-23 09:40:12 -0500 )edit

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.

Airuno2L gravatar image Airuno2L  ( 2014-10-23 11:21:21 -0500 )edit

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Asked: 2014-10-21 10:39:50 -0500

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Last updated: Oct 23 '14