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create a 3D map

asked 2015-08-17 05:09:34 -0500

TomSon gravatar image

Hi everyone, I would like to create a dedicated device to create and save a 3D map. I have seen that to stock this map, an octomap would be needed.

The best method I have seen on ROS is loam_continous but it has been remove for commercial purposes.

What tools do you recommand ? I got an IMU and laser(s).

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answered 2015-08-18 09:18:49 -0500

cyborg-x1 gravatar image

I guess there are still some forks out there, it was under BSD license so I guess you can still use the code. (Might anyone correct me if I am wrong with that license thing... )

I am also not sure if there is anything you need more than the code itself, somehow the description says that you need some additional files: https://github.com/dimatura/loam_cont...

For RGBD Cameras there is rtabmap: http://wiki.ros.org/rtabmap , I do not know if this is any use for you, but maybe somehow together with this: http://wiki.ros.org/laser_assembler

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Thanks I will check on that

TomSon gravatar imageTomSon ( 2015-09-02 04:23:20 -0500 )edit

Hi TomSon can you please tell me how to build 3d map with hokuyo utm 30-lx using loam_continuous. I downloaded the code and when i use it with data sets provided then in rviz i can view pointclouds spinning. But instead of running bagfile when i connect my sensor then nothing comes up. thanks

ARCHANA gravatar imageARCHANA ( 2016-02-01 08:30:59 -0500 )edit

You are at the same step I were. Dont forget you need a servo to do back and forward mouvement with your hokuyo. I got also a pointcloud spinning without a correct phasing.

TomSon gravatar imageTomSon ( 2016-02-02 01:46:36 -0500 )edit

can you suggest me which servo i have to use?

ARCHANA gravatar imageARCHANA ( 2016-02-02 04:11:27 -0500 )edit

If I had to do it again, one of dynamixel pro would be interested for the total weight to rotate.

TomSon gravatar imageTomSon ( 2016-02-02 06:00:05 -0500 )edit

Can you please tell me specifically which dynamixel i have to purchase? And please guide me step by step how to interface ros, laser and dynamixel with each other.

ARCHANA gravatar imageARCHANA ( 2016-02-02 09:38:58 -0500 )edit

I dont know specifically, it depends of the wieght of your system. I can't guide you trough the steps because I didn't test it myself first. I just test with the bag like you.

TomSon gravatar imageTomSon ( 2016-02-02 10:08:27 -0500 )edit

That's ok but i want to ask you one thing. In the programs of loam package why the subscriber and advertisers are name as camera, cam_to_init, and so on. Are they predefined for aparticular sensor?

ARCHANA gravatar imageARCHANA ( 2016-02-02 12:20:52 -0500 )edit

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Asked: 2015-08-17 05:09:34 -0500

Seen: 770 times

Last updated: Aug 18 '15