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hi,
I want to implement SLAM on a wheel chair equipped with kinect and encoders for extracting the odometry information, there are many packages available for salm on ros as i don't have any experience with them i don't know how to proceed or which package would be better for this, I would be great full for any help.
Your setup sounds like it is pretty close to the standard setup of the Turtlebot. This tutorial provides a quick overview of how a map can be generated with the Turtlebot. Of course, your hardware setup differs, so you'll probably want to read some other Turtlebot tutorials from here to get a better understanding of how everything works.
That being said, mapping using the Kinect + gmapping can be relatively brittle depending on the environment you're operating in.
hector slam does not work well with the Kinect as it has a too small FOV and too much noise. Making it work would require significant code changes.
Asked: 2013-05-31 20:09:10 -0500
Seen: 773 times
Last updated: Jun 01 '13
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