Gmapping for indoor aerial vehicle?

SLAM

asked 2012-03-28 22:34:25 -0500

Anonymous

updated 2014-01-28 17:11:47 -0500

ngrennan
1 ●1 ●1

Hi. I would like to combine gmapping for indoor aerial vehicle. Something similar as http://robotics.ccny.cuny.edu/blog/node/152 However, I think they used custom Gmapping, not a stack on ROS. Clear path to achieve will be

Subscribe IMU to correct laser scans with respect to attitude. Subscribe height from some sensor (sonar, laser). Provide corrected information to gmapping.

If there is an implementation to do this, it would be great to know that. If it is not, it is good to know that how to provide height information to gmapping.

edit retag flag offensive close merge delete

Comments

You might want to check hector_quadrotor.

maruchi ( 2012-03-29 04:38:16 -0500 )edit

add a comment

0

answered 2013-03-12 06:29:38 -0500

Stéphane Magnenat
83 ●3 ●5 ●10 http://stephane.magnenat.net/

The names of this package have changed, now they are:

edit flag offensive delete link

add a comment

0

answered 2012-04-02 14:12:34 -0500

opcode
46 ●1 ●1 ●5

Hi with a kinect you can also use this stack from ASLab.

https://github.com/ethz-asl/ros-mapping
http://www.ros.org/wiki/modular_cloud_matcher
http://www.ros.org/wiki/ethzasl_mapping
http://youtu.be/McxpJGOZTPs

This will give you a nice odometry(6D pose) information using only the kinect. You can then send the odometry tf and a fake laser scan(assuming with kinect) to the gmapping server.

If you have a proper laser then as maruchi said you can use the hector* stacks.

-opcode

edit flag offensive delete link

add a comment

Gmapping for indoor aerial vehicle?

Comments

2 Answers

Question Tools

Stats

Related questions

Gmapping for indoor aerial vehicle? edit

Comments

2 Answers

Question Tools

Stats

Related questions

Gmapping for indoor aerial vehicle?