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Gmapping for indoor aerial vehicle?

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

anonymous user

Anonymous

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

ngrennan gravatar image

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.

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You might want to check hector_quadrotor.

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

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

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

opcode gravatar image

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

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

Seen: 226 times

Last updated: Mar 12 '13