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can a Robot with ROS_comm draw map using SLAM ?

asked 2018-01-15 16:30:24 -0500

Mohammedism gravatar image

Hi everyone, I am new to ROS, i have used to for small projects but i still did not understand it very well. I have a Robot with raspberry pi on it( raspbian jessie ). i have installed ROS Kinetic and the ros_comm package. i followed this page and i will install the gmapping package. my question is, is that enough to run gmapping ? or do i have to install the ROS Desktop ? because from what i understood the ros_comm have no GUI tools. but i have seen people run SLAM on their computers and the rviz instead of running on the robot.

Sorry if i am missing major concept in ROS but i am learning, thank you

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answered 2018-01-16 04:16:47 -0500

updated 2018-01-16 04:18:23 -0500

Map making composes of two main modules .

  1. Actual mapiing
  2. Localization

Mapping is straight forward if you have a Kinect like sensor (RGB-D) , publish the topics and feed it to gmapping module . The tricky part is that with the Odometry , odometry can be achieved vai a couple of ways

  • Encoders + IMU fusion (EKF based)
  • Visual Odometry (rtabmap , ORB-SLAM2...)

If you are lucky enough to have a 360degree lidar , you can use hector mapping (This is a slam algorithm which works without encoder feedback )

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thanks a lot for the help. yeah i actually happen to have put my hand on RPLIDAR A1.

i will try to look and understand how i can integrate everything together

Mohammedism gravatar image Mohammedism  ( 2018-01-16 12:31:01 -0500 )edit

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Asked: 2018-01-15 16:30:24 -0500

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Last updated: Jan 16 '18