Suggestions on using GMapping or AMCL SLAM for Robot in Industrail Use - Case [closed]
Hi Everyone,
I am developing some software packages for a robot which will be used for Shop-floor material handling. The use case is simple as follows:
I will have web based GUI interface to call a robot to particular place on a map, The robot will have a preplanned path to follow to reach that place.
Now since we don't want to modify existing infrastructure I want to use natural navigation/SLAM techniques to achieve this. ROS Navigation stack has GMapping and Hector SLAM packages. I have used GMapping to create map of the environment. I am using AMCL to localize the robot and I am giving a initial pose from rviz, then using Move base to send goal positions to make robot move in pre-planned path,
But to achieve a accuracy of 20mm near to position of goal what changes should I do in the package. How to disable robot recovery behavior when it sense a obstacle i.e if it finds a obstacle in its path I want it to stop. I want to restrict the possible areas the robot can move in a map. How to do it ?
Any suggestions, links to resources will be helpful. As I post this questions just looking for ideas and resources please be considerate. Thank you