How to SLAM Mapping with Ultrasonic Sensors instead of Kinect?

2DSLAM

asked 2015-06-05 14:37:34 -0500

hw2016
61 ●3 ●4 ●4

Hey guys,

I am trying to do the SLAM mapping with an ultrasonic sensor(HC-SR04). It works on my raspberry pi using Python.

I wonder if there is any package I can use to use RViz and gmapping, with my ultrasonic sensor. I do not know how to publish the distance reading information from Raspberry Pi to my turtlebot laptop.

Thanks.

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answered 2017-10-21 10:27:48 -0500

RiccardoGiubilato
76 ●1 ●5 ●4

Hi! Doing SLAM with just a 1-point range sensor is impossible but you can still do some cheapo mapping, please take a look at the Python code that I wrote at this repo: https://github.com/RiccardoGiubilato/... . Here I have a crius board hooked up to a wheel encoder and an ultrasonic sensor. The crius (based on atmega328) publishes odometry and range data which is used by a Udoo board mounted on the car itself to build an OccupancyGrid.