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What ROS packages shall I install

asked 2016-03-24 11:40:41 -0500

mukut_noob gravatar image

Hello there, I have just installed Ubuntu 14.04 on my Raspberry Pi 2 and have also installed the ROS base (bare bones). So my question is that what packages do I need to make a bot that could make a map of the surrounding a and then autonomously navigate? For ex- SLAM, gazebo, etc

Thanks & Regards Mukut

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answered 2016-03-24 19:51:22 -0500

spmaniato gravatar image

updated 2016-03-24 19:52:43 -0500

Definitely not Gazebo if you're putting together a real robot :P

I'm guessing you're planning on placing the RPi on a chassis and hooking it up to motors/wheels and a LiDAR, right? Once that's done, I would download gmapping for SLAM and navigation for localization and moving around in the map created by SLAM.

You'd also need to find or write drivers and ROS bindings for the motors and LiDAR of course.

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Okk...but I am thinking of using an Ultrasonic Sensor or an IR Range finder, because LIDAR is just too expensive. And what bindings and drivers do I have to write? Do u mean the program to run the motors and get data from the sensor?

mukut_noob gravatar image mukut_noob  ( 2016-03-24 22:13:16 -0500 )edit

OK. Loosely speaking: Drivers = ROS-independent code that interfaces with the sensors/actuators and ROS bindings = ROS code (node) that uses ("wraps") the drivers in order to, among other things, publish the streams of sensor data. Here's a good example:

spmaniato gravatar image spmaniato  ( 2016-03-25 09:39:59 -0500 )edit

Okk thanks spmaniato, I am facing some problems installing the navigation package, I found some similar posts but found no suck answer to it. Here's the link :

mukut_noob gravatar image mukut_noob  ( 2016-03-25 12:56:29 -0500 )edit

What do you mean by " navigation for localization and moving around the in the map created by SLAM "? Do you mean the navigation stack?

mukut_noob gravatar image mukut_noob  ( 2016-03-30 22:21:01 -0500 )edit

Can I use the nav2d instead of navigation? Because I am facing some problems installing it as told in my earlier post.

mukut_noob gravatar image mukut_noob  ( 2016-03-30 22:22:59 -0500 )edit

Yeah, I meant the navigation stack (ros-indigo-navigation). I don't know much about nav2d, sorry.

spmaniato gravatar image spmaniato  ( 2016-03-31 07:49:06 -0500 )edit

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Asked: 2016-03-24 11:40:41 -0500

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Last updated: Mar 24 '16