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hector slam and arduino help please

asked 2016-07-18 08:40:47 -0600

Emilien gravatar image

updated 2016-07-18 09:18:43 -0600

hi, i install ros kinetic on raspberry pi3 and i configure kinect with hector slam and all work well. now i want to implémante arduino to make a robot with 2 wheels, i install rosserial and i don't know how can i relate hector slam with arduino to control motors. i know that hector slam provide odometry. can you help me please? i don't know how can i control motors with hector slam

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answered 2016-07-18 10:05:27 -0600

Hector_slam is used for mapping, not autonomous control. You could try taking a look at hector_exploration_planner.

Normally the way it works is a path planner will publish a set of velocities for the robot as a whole. You will need to write a node that will use the inverse kinematic equations for your particular robot to determine the individual wheel velocities required to achieve the desired motion.

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thanks, i write a node arduino that publish rpm and subscribe to cmd_vel with ros serial, and i can control my robot with teleop_twist_keyboard. and also i create a package with hector slam that visualise a map. now i want to add odometry to hector_slam for autonomous mapping . what can i do please?

Emilien gravatar image Emilien  ( 2016-07-19 09:08:25 -0600 )edit

Hector_slam does not require odomtry

Icehawk101 gravatar image Icehawk101  ( 2016-07-19 09:34:16 -0600 )edit

so what can i do please? i dont found explication on hector navigation

Emilien gravatar image Emilien  ( 2016-07-19 17:14:14 -0600 )edit

Ok, so you've built a map using hector_slam and now you want to autonomously drive around that map? Is that right?

Icehawk101 gravatar image Icehawk101  ( 2016-07-20 07:26:37 -0600 )edit

nn i can build a map with hector slam but i move kinect with my hand. now i create a robot with 2 motors and arduino (i can controle manually motors with teleop_twist_keyboard) and i want to navigate with this motor autonomously to create a map. can you help me for this?

Emilien gravatar image Emilien  ( 2016-07-20 08:22:52 -0600 )edit

@Emilien I replied to you on another similar post you created.

@Icehawk101 Youve helped me before and i really appreciate your help. Could you please provide your insight on a couple things on hector navigation please?

RoSPlebb gravatar image RoSPlebb  ( 2016-07-21 12:41:18 -0600 )edit

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Asked: 2016-07-18 08:40:47 -0600

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Last updated: Jul 18 '16