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Example of a working robot with only a depth camera doing autonomous exploration?

asked 2022-04-29 07:13:51 -0500

catmanjan gravatar image

I am at the stage of giving up on ROS due to how complicated it is.

I have a robot, it is responding to telop commands on cmd_vel

I have a depth camera working with rtabmap

Now, I want to do all the bits in between so that the robot will explore the area autonomously.

All the doco seems to be wrong, out of date, or only works with lidar

Can anyone point me to an example of a working robot, which has only a depth camera, and can do autonomous navigation?

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answered 2022-04-29 12:52:18 -0500

shonigmann gravatar image

Robotics is complicated, unfortunately, so you can at least rest assured that you're not the only one that finds this difficult or confusing. That said, you may need to add more detail on your particular situation to get useful feedback, but i'll take some guesses and see if it helps.

You have rtabmap working with your camera and now you just want the robot to move around the environment and map it? Is it a ground based robot? if so, maybe the frontier_exploration package is what you're looking for. It will require you to configure your robot to use the nav stack properly and for the depth camera to update the cost maps, but there's nothing inherent to the nav stack that requires the use of a lidar. rtabmap should be able to update cost maps for you (see the Grid/FromDepth option in the docs) if you tell it to.

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Thanks, I’ve seen this package but again there are no examples that work, are up to date and don’t use lidar - I don’t really care to learn the intricacies of each package so I’d rather just cherry pick from a working example.

catmanjan gravatar image catmanjan  ( 2022-04-29 18:39:17 -0500 )edit

For example, the frontier exploration doco links to a “husky” repository on GitHub which “temporarily” removed frontier exploration 3 years ago…

catmanjan gravatar image catmanjan  ( 2022-04-29 18:49:56 -0500 )edit

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Asked: 2022-04-29 07:13:51 -0500

Seen: 48 times

Last updated: Apr 29