How can I make a robot which could drive autonomously in a given map (made using hector slam and lidar) if i give it a ending point.

asked 2019-05-29 08:23:27 -0500

sajal
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updated 2019-05-29 19:02:16 -0500

jayess
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I'm making a robot using only 3 major parts (no other sensors) motors with encoders, raspberry Pi 3 and RPLidar A2M8. My progress is that I have the map.tif/trw (from rviz using hecor_slam). I know about the navigation package in ROS (finding pretty difficult to go through) and I have read what all data i need to communicate. I just want to know how and where to start after mapping. A list of steps or a detailed procedure would be really helpful and appreciated. Please share any helpful links.

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how did you connect raspberry to pc for navigation?

Usui ( 2019-06-04 18:52:25 -0500 )edit

I have not yet started the navigation, but you can use vnc server or ssh to connect pc to rpi.

sajal ( 2019-06-04 23:52:44 -0500 )edit

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@curi_ROS will I have to write my own code to publish the odometry data, or to send odometry data from motor to ros ans ros to motor? I have connected my motor directly to Rpi. So is there a tutorial available to publish odometry using Rpi through ROS.

sajal ( 2019-05-30 00:17:13 -0500 )edit

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How can I make a robot which could drive autonomously in a given map (made using hector slam and lidar) if i give it a ending point.

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How can I make a robot which could drive autonomously in a given map (made using hector slam and lidar) if i give it a ending point.