How to make SLAM with other programs and tools?

asked 2017-09-05 07:44:55 -0600

gerson_n
43 ●12 ●17 ●19

updated 2017-09-05 11:22:56 -0600

Hi everyone

I'd like to know a way to make Simultaneous Localization And Mapping (SLAM). All projects I've seen are driven by teleop_twist_key node, or a joystick. In order to apply SLAM, the wheeled robot I'm looking for needs to make autonomously a mapping for the planar environment it moves, preferably indoors. I know teleop node, navigation stack and gmapping from ROS are always the chosen by almost everyone to make this task.

Edit

Thanks to @gvdhoorn now I know other implementation for ROS like frontier_exploration package and turtlebot_exploration_3d

Which other implementations exists to use SLAM in the way I'm looking for?

Thanks

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Is this related to #q269765 (your previous question)? If not, can you clarify what you actually want to do?

gvdhoorn ( 2017-09-05 07:53:56 -0600 )edit

Oh, yes it is. I forgot I've asked the same question a week ago. In this case I should delete this question?

gerson_n ( 2017-09-05 09:15:57 -0600 )edit

We can close it as a duplicate and then optionally delete it.

gvdhoorn ( 2017-09-05 09:27:26 -0600 )edit

Thanks for reopen this one

gerson_n ( 2017-09-05 11:40:21 -0600 )edit

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Thanks a lot man, I'd like to use the package you've done. That's what I've been looking for. Just a few questions about the params: What about it performance for kinect? is it appropiate? I haven't found people who has used that sensor for it. And how it works for odometry?

gerson_n ( 2017-09-06 14:55:13 -0600 )edit

I understand I need position (odom) and a vision sensor (kinect) which together as inputs are used for a filter like kalman or particle filter (this case). The thing is, I didn't see how can I send the odom info to this algorithm, can you tell me how to achieve that? Thanks

gerson_n ( 2017-09-06 15:04:59 -0600 )edit

Odometry is input via topic tf, same as for navigation stack. I never used nav2d with a Kinect, which is a 3d sensor. But I think there are already ROS-nodes to create virtual 2d-scans from a Kinect sensor.

Sebastian Kasperski ( 2017-09-07 06:14:41 -0600 )edit

Thanks again man.

gerson_n ( 2017-09-11 07:45:13 -0600 )edit

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How to make SLAM with other programs and tools?

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