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Raspberry Pi3 Hector Slam [closed]

asked 2017-01-15 12:51:37 -0500

matteopantano gravatar image


Just tried to see if hector slam algorithm works on raspberry pi3 with ubuntu MATE 16.04 w/ ROS kinetic. Unfortunately seems that the computational power of the board is not enough to handle the data stream while map is created so our discover is that raspberry is not enough powerful (we tried the commands on another pc and the map is created successfully).

So now our question is: Is it possible to stream the data coming from laser scanner (connected to Pi3) to another powerful pc. Do proper elaborations and then send final commands to the raspy again (cmd_vel..). If yes which connection should we use? And how to do that? Any hints?


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Closed for the following reason the question is answered, right answer was accepted by matteopantano
close date 2017-05-05 16:19:49.612389

1 Answer

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answered 2017-01-15 13:18:43 -0500

MarkyMark2012 gravatar image


Short answer is yes. The pi has plenty enough power - I would ensure you have a high bandwidth WiFi channel - I use a 300Mps adapter on a Raspberry Pi 2 for the set up you mention - works fine. 150Mps is a bit slow.


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Additionally: make sure to compile things with optimisations enabled. With CMake / catkin: -DCMAKE_BUILT_TYPE=Release (or RelWithDebInfo).

gvdhoorn gravatar image gvdhoorn  ( 2017-01-15 13:43:51 -0500 )edit

How can stream data from raspy and then analyze it in the other PC?

matteopantano gravatar image matteopantano  ( 2017-01-15 14:47:16 -0500 )edit

Simply install ROS on the other PC and run a Hector SLAM node there listening to the topics it required.

This tutorial should help re: running ROS on multiple machines - link text

MarkyMark2012 gravatar image MarkyMark2012  ( 2017-01-15 16:57:36 -0500 )edit

Thanks guys! :)

matteopantano gravatar image matteopantano  ( 2017-01-16 10:21:04 -0500 )edit

If you feel your question was answered, please don't close it, but accept the answer by @MarkyMark2012 by ticking the checkmark to the left his answer. Thanks.

gvdhoorn gravatar image gvdhoorn  ( 2017-01-16 10:38:04 -0500 )edit

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Asked: 2017-01-15 12:51:37 -0500

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Last updated: Jan 15 '17