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implementing slam on differential drive robot

asked 2013-05-31 20:09:10 -0500

akhil gravatar image

updated 2016-10-24 09:00:16 -0500

ngrennan gravatar image


 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.
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answered 2013-06-01 12:04:12 -0500

updated 2013-06-01 12:10:39 -0500

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.

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thanks for your response , can I use hector slam for this ?

akhil gravatar image akhil  ( 2013-06-01 18:34:37 -0500 )edit

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.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2013-06-02 05:17:44 -0500 )edit

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Asked: 2013-05-31 20:09:10 -0500

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Last updated: Jun 01 '13