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pr2 complete SLAM process

asked 2012-04-26 23:55:01 -0600

Erwan R. gravatar image

updated 2014-11-22 17:05:24 -0600

ngrennan gravatar image


I'm currently focusing on the way I can make a PR2 do SLAM in gazebo. I went through navigation stack tutorial, and pr2_2dnav_slam. The latter is quite interesting, but goals are still user-defined. So my question is : Does it exist an application doing autonomous SLAM i.e. making the robot explore his environment and decide which goals to reach to complete the map ?

I think it's doable using the simple_navigation_goals idea, but before spending time on that, I want to be sure I didn't miss something.

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answered 2012-04-27 00:45:32 -0600

There is a exploration stack in Bosch's repo. I haven't tried it, but it should provide the basic functionality that you request. At Team Hector we have our own implementation of the exploration transform algorithm in use, but in the coming weeks I probably won't have time to make it fit for publishing.

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answered 2012-04-27 03:03:21 -0600

Erwan R. gravatar image

That's what I was looking for, thank you ! I'm gonna investigate further to set correctly parameters but it's working (sometimes, the robot get lost, but I'll see if it's not just details on the node).

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Asked: 2012-04-26 23:55:01 -0600

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Last updated: Apr 27 '12