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Yeah. I beleive it is possible and you can run navigation stack with Sharp's IR scanner, although the resolution may not be good as the default methods. See the following links
http://www.showusyoursensors.com/2010/08/ros-and-other-ramblings.html
This is how its done in Pi-Robot
http://www.youtube.com/watch?v=6oDrO5EKU5w
http://www.pirobot.org/blog/0014/
and here is some code
http://code.google.com/p/vanadium-ros-pkg/source/browse/trunk/arbotix/src/arbotix_sensors/lidar.py?spec=svn19&r=19
do I have to install openni to use the kinect(or other camera depth sensor) with the naviagtion stack?
yes sure, u need openni, Kinect outputs a pointcloud , then using the package pointcloud_to_laserscan (depthimage_to_laserscan in ROS Hydro), you have to fake it as a laserscanner.
Parallax sells a 1d laser rangefinder on their website, maybe the PML can be used with that.
It's totally possible. I have a little robot that does some basic SLAM, just using two ultrasonic rangefinders. However, I found that gmapping took some heavy tweaking to get to work properly using such noisy & low spatial resolution sensors. The whole project took a couple XBees, some servos, an arduino, the rangefinders, and my laptop.
Now I said it's possible, but the disclaimer is that it will never be as good as a laser. The main gmapping tweaks: - Set resolution to match sensors. For my SRF-04s, I used 4cm - Increase particle count, to account for relatively low sample rate. - Buffer the ultrasonic, publish as sets of points!!
You definitely can. We are using Sharp's IR sensors to generate a point cloud which is then given to the navigation/tf stack.
Here's the code of our IR sensor interface: http://pastebin.com/9EK7W8Dm
I've changed the frame the points were published in due to this misbehavior: http://answers.ros.org/question/82351/no-obstacles-detected-in-particular-region-on-the-map/
thanks this will be rally useful but I have some questions about the code, first your code references a #include "otter4_eth_interface/CAN.h" which also the msg type received by ir interface class. I am guessing it is specific to your project so what would be the equivalent msg for me to use
Exactly. The CAN message is specific to my robot. That's got to be substituted by your specific message containing your IR data.
The micro controller that will be very likely sending the data uses strings sent via usb, can I use those?
what type of data is in the can msg anyway? I am assuming it is distance data.
I forgot about this one, I'm sorry. The CAN msg is just a container that contains different types of commands and parameters highly specific to our hardware. You can use whatever kind of message you like. You've just got to decode/unpack/parse them. Pretty easy with Python in my book.
Asked: 2013-09-20 07:18:16 -0500
Seen: 1,635 times
Last updated: Oct 24 '14
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