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Creating a map with Lidar on Neato without control

asked 2013-09-03 04:31:31 -0500

FlashErase gravatar image

updated 2014-01-28 17:17:49 -0500

ngrennan gravatar image

Hi folks,

finding the tutorials linked in this question http://answers.ros.org/question/60363/neato-laser-scan-shows-impossible-datas-in-rviz/ I learned a lot of connecting Neatos lidar to ros.
But because I'm not so firm with ros (at work I'm only developing
complex C++ programs) I hope, someone can teach me a way to fullfill
my wish:
I owned a Vorwerk VR100 wit Rev. 64 PCB (so no additional serial ports
are known at this time). So I planned to connect a transparent bluetooth
module to the lidars port (only listening to the lidar datas during the
cleaning process). I don't want to control the robot at the first time.
Only passive scanning the lidar data.
I'd like to watch live, how a map of my house is created out of this
continuous lidar data without additional odometry as seen in this video:
http://www.youtube.com/watch?v=o9KzTR0vTXk
Later I want to add a trace along the way of the robot as wide as it's
brushes to find out skipped and not cleaned areas and to remove obstacles
causing such areas.
There was a video showing this procedure by the Neato developers with a
live view inside it's brain: http://www.youtube.com/watch?v=hf1zY8vRC2E
So is there a way, to create a map only using the lidar data without
odometry and without control of the robot?

Sorry for my poor english, I'm german.

Appendix 1:
system: Ubuntu 10.10 maverick
ros: cturtle
installation: http://xv11hacking.wikispaces.com/Connecting+to+ROS
and https://github.com/tu-darmstadt-ros-pkg/hector_slam

Made successfully "rosmake eigen", checked all entrys from wiki for ros+eigen but get furthermore on "rosmake hector_slam" the errors "Failed to find rosdep eigen for package ..." in a lot of packages and "Could not find module FindOpenCV.cmake or a..." in package hector_compressed_map_transport. Why it isn't possible to get a consistent IDE in linux or at least understandable an reproducible instructions to build a package?
Is there anyone, who has installed these packages successfully and can give me a hint, where I made the misstake processing the tutorials?

Appendix 2:
Now, with ubuntu 12.04 and ros fuerte I got no errormessages at the begin of the buildprocess. But now the process stops building "hector_geotiff_plugins":
/home/vr100/ros/hector_slam/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp:117:109: Fehler: expected constructor, destructor, or type conversion at end of input
make[3]: * [CMakeFiles/hector_geotiff_plugins.dir/src/trajectory_geotiff_plugin.o] Fehler 1
make[3]: Verlasse Verzeichnis '/home/vr100/ros/hector_slam/hector_geotiff_plugins/build"

The source snippet out of trajectory_geotiff_plugin.cpp:
116 #include <pluginlib class_list_macros.h="">
117 PLUGINLIB_EXPORT_CLASS(hector_geotiff_plugins::TrajectoryMapWriter, hector_geotiff::MapWriterPluginInterface)

I made all here requested modifications for "Eigen" but had no success. He doesn't like the line with "PLUGINLIB_EXPORT_CLASS". Any hints?

Edit: Excluding this line from build will succeed the build process and all parts are to see in rviz. But this can't be the final solution because the geotiff_plugin now is not functional.

Appendix 3: Now I ... (more)

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you most likely won't need the geotiff_plugin as long as you don't want to participate in robocup rescue ;). as for the error, i could imagine it broke somewhere in the process of making hector slam run on groovy *shrug*.

jodafo gravatar imagejodafo ( 2013-09-08 23:00:11 -0500 )edit

Thank you for this hint. In this case I'll ignore this error and let the problematic line excluded.

FlashErase gravatar imageFlashErase ( 2013-09-09 04:41:50 -0500 )edit

For additional questions, please open a new question instead of appending them here.

dornhege gravatar imagedornhege ( 2013-09-11 23:38:52 -0500 )edit

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answered 2013-09-03 05:14:20 -0500

dornhege gravatar image
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Thank you. This system (and a lot of other) I already found. But without a plan how to start, how to configure and how to continue there is no way for me to get success.

FlashErase gravatar imageFlashErase ( 2013-09-03 08:53:16 -0500 )edit

I need a hint how to see the map in rviz (I only can see the momentary distance points after enabling this hook). I found no settings to enable the view to the map. And second, where I can read how to use my own live lidar data for the map instead of the played sample data?

FlashErase gravatar imageFlashErase ( 2013-09-03 08:54:24 -0500 )edit

@dornhege Sorry for deleting your comment "Just add a map display in rviz." together with my answer. A map display is always included. But it does not get data because the nodes "hector_mapping", "hector_trajectory_server" and "geotiff_node" didn't start. Messages: "Cannot locate node of type ..."

FlashErase gravatar imageFlashErase ( 2013-09-03 09:33:42 -0500 )edit

Do you have them installed/built?

dornhege gravatar imagedornhege ( 2013-09-03 10:20:02 -0500 )edit

Sorry, I ignored some errormessages during build. The build process stops because "Eigen" isn't installed and configured. Reading this: hxxp://wiki.ros.org/eigen I surrender for today and hope, that I'll have tomorrow after work enough brain left to fight with this mess.

FlashErase gravatar imageFlashErase ( 2013-09-03 10:27:44 -0500 )edit

I'm not intelligent enough. On "Failed to find rosdep eigen for package hector_mapping" Google finds 3 hits with no helpful infos. The ros wiki gives no hint for using Eigen in cturtle. I installed libeigen2-dev and libeigen3-dev. Always the same errormassages. Any hints to use the installed Eigen?

FlashErase gravatar imageFlashErase ( 2013-09-04 04:46:53 -0500 )edit

Appended text to my original question.

FlashErase gravatar imageFlashErase ( 2013-09-04 16:42:03 -0500 )edit

Last question: how can i change the datasource in this tutorial: https://github.com/tu-darmstadt-ros-pkg/hector_slam from the bag player to the real laser data /neato_laser from this driver: http://wiki.ros.org/xv_11_laser_driver/Tutorials/Running%20the%20XV-11%20Node#View_the_data_in_RVIZ ?

FlashErase gravatar imageFlashErase ( 2013-09-07 00:01:40 -0500 )edit
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answered 2013-09-04 22:54:57 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

Hi, may I ask why you are using cturtle? My guess is that by using a newer version (i.e. one for which hector slam is/was developed) would make it easier for you.

Regarding the dependency issues: I wasn't around in cturtle times, so I'm not sure here. However there have been some changes concerning eigen when fuerte was introduced: http://wiki.ros.org/fuerte/Migration. Did you check out the electric branch of hector_slam or fuerte/groovy/hydro? If the latter I'd suggest to try out the electric branch. Can you check whether <depend package="eigen"\> is in your manifest.xml? This was dropped with fuerte, so you might need it in cturtle.

edit: Ubs, just saw that you wrote that it says failed to find rosdep eigen. In this case try rosmake --rosdep-install (again, this is just a guess since i do not know cturtle)

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Thanks for your answer. I use cturle because the first example for the Neato was designed for maverick and there I only was able to install cturtle. Installation of other distributions failed. Would you suggest to use ubuntu 12.04 and ros fuerte to prevent version problems? I'll test it this evening

FlashErase gravatar imageFlashErase ( 2013-09-04 23:23:59 -0500 )edit

definitely

dornhege gravatar imagedornhege ( 2013-09-05 01:18:11 -0500 )edit

OK, thank you. Then I'll make tabula rasa coming home from work and starting completely new. Because I use ubuntu for ros purposes only running it on an external drive it will be no problem to kill this partition. All my other IDEs are running perfect on a different drive with Suse.

FlashErase gravatar imageFlashErase ( 2013-09-05 02:00:01 -0500 )edit

Appended text to my original question.

FlashErase gravatar imageFlashErase ( 2013-09-05 05:35:38 -0500 )edit

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Asked: 2013-09-03 04:31:31 -0500

Seen: 2,139 times

Last updated: Sep 12 '13