Ask Your Question
0

can a Robot with ROS_comm draw map using SLAM ?

asked 2018-01-15 16:30:24 -0600

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 http://wiki.ros.org/ROSberryPi/Instal... 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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2018-01-16 04:16:47 -0600

updated 2018-01-16 04:18:23 -0600

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 )

edit flag offensive delete link more

Comments

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 imageMohammedism ( 2018-01-16 12:31:01 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2018-01-15 16:30:24 -0600

Seen: 124 times

Last updated: Jan 16 '18