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asked 2013-01-31 21:21:43 -0500

marwa
153 ●12 ●13 ●23

hello,

can i build my map without doing calibration because i have only irobot create ?

thanks

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what kind of calibration are you talking about??

ayush_dewan ( 2013-01-31 22:39:17 -0500 )edit

this one http://www.ros.org/wiki/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro

marwa ( 2013-01-31 23:15:01 -0500 )edit

I have a turtlebot which has a create base. I did not do any calibration for my bot as mentioned in the link..

ayush_dewan ( 2013-01-31 23:28:31 -0500 )edit

Can you tell me how to built your map without using calibration ? as my irobot create dosen't contain this part http://store.iheartengineering.com/ihe-0200-0000-fa00.html

marwa ( 2013-01-31 23:37:11 -0500 )edit

@shade:- you bought the full turtle bot with (power/sensor gyro board )..or only icreate robot ?

Wafaay ( 2013-02-01 00:09:59 -0500 )edit

Since u dont have the gyroscope sensor, wat exact set of readings are you missing??

ayush_dewan ( 2013-02-01 00:19:46 -0500 )edit

How can i do it without having gyro sensor?

marwa ( 2013-02-01 00:47:35 -0500 )edit

what is turtlebot calibration ?! and why need this ?! see this my help ! http://answers.ros.org/question/10868/calibrating-turtlebot-odometry-without-gyroimu/

Amal ( 2013-02-14 11:59:46 -0500 )edit

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answered 2013-02-01 03:39:12 -0500

dornhege

31395 ●134 ●284 ●498

Considering the comments I guess by "without calibration" you mean to say that you don't have an IMU?

In that case, try hector_mapping. It doesn't require odometry and might work for you.

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@dornhege : Does that technique works without "board/sensor gyro board".. can perform mapping task with the normal icreate robot base ?

Wafaay ( 2013-02-01 04:23:58 -0500 )edit

1

Yes, it doesn't require odometry in principle. Just a laser or similar. How good it works only with a kinect and thus very limited data is another question.

dornhege ( 2013-02-01 04:37:02 -0500 )edit

that's sounds great...i will start work on this technique ... and hope it leads to a good results ...i love this community ^_^...thank you very much,sir. and thanks to the question asker ^_^

Wafaay ( 2013-02-01 05:40:23 -0500 )edit

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answered 2013-02-01 03:17:12 -0500

ayush_dewan

1610 ●20 ●23 ●38 http://ayushdewan.word...

@Wafaay I am not sure of the turtlebot specification that I have in my lab. @marwa if ur using gmapping algorithm then all you need is laser scan and position of laser sensor w.r.t to world. Laser position is defined with respect to base_link of robot which in defined in odometry frame. So if u have laser readings and sensor position then mapping can easily be done.