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Searching in map

asked 2013-03-21 01:50:17 -0500

marwa gravatar image

updated 2013-03-21 02:07:19 -0500

Hello,

How can i search for specific object in map that has been built using rviz ? Can I use a specific algorithm? or can I do this using rviz?

any help?

thanks in advance

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answered 2013-03-21 03:25:21 -0500

You should probably read up on some basic concepts regarding rviz, gmapping and generally "how stuff in ROS works :)" (the tutorials are a good start).

Rviz is the ROS Visualizer and mainly is useful for visualizing the robot and environment state. It does neither build maps, nor does it provide algorithms for searching for objects in them. It just allows you to visualize the map it receives from somewhere else (for example gmapping).

That being said, I am not aware of a existing approach that performs some kind of object recognition on occupancy grid maps (if that is what you require).

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Thanks :) , but what i mean is how my robot can walk Automatic and freely in the map that has been built using rviz without neglecting parts of the map

marwa gravatar image marwa  ( 2013-03-21 05:23:27 -0500 )edit
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That sounds completely different to your original question :) For navigation inside a map you can use the navigation stack. To automatically explore an environment you can have a look at the exploration stack or the hector_exploration_planner

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2013-03-21 06:28:10 -0500 )edit

Sorry for the inconvenience :) , but I built the map using gmapping.. Are these methods can be beneficial to me?

marwa gravatar image marwa  ( 2013-03-21 07:17:02 -0500 )edit

If you want your robot to navigate in that map, you can use the navigation stack. If you have a walking robot, that complicates things though, as the navigation stack is originally intended to be used with wheeled robots.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2013-03-21 21:54:09 -0500 )edit

Thanks :)

marwa gravatar image marwa  ( 2013-03-22 04:02:04 -0500 )edit
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answered 2013-03-22 00:39:04 -0500

Chik gravatar image

updated 2013-03-22 00:40:03 -0500

There is no simple solution. We need to write a new code which contains:

  1. Visual recognition of the object (e.g. juice, book) that the robot tries to recognize. This may be the most difficult part and I am still not sure which libraries are the most suitable. Perhaps RoboEarth detector?

  2. Navigation implementation (not by rviz but directly from the code) which calls gmapping, acml, move_base, etc.

  3. Main: the strategy designed by you (e.g. circulate the room according to a particular trajectory; when it sees the book then turns right, etc.) Alternatively you may try Exploration stack.

Actually I am trying to do the same thing. Perhaps we can help each other :-)

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Thanks :) If i got good results ,i will put it here :)

marwa gravatar image marwa  ( 2013-03-22 04:00:20 -0500 )edit

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Asked: 2013-03-21 01:50:17 -0500

Seen: 233 times

Last updated: Mar 22 '13