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2015-09-11 15:53:35 -0500 asked a question Anybody knows how to change the rplidar motor rate?

I bought a rplidar laser and I want to control the frequency or rate of my sensor. Anybody knows how I can do this?

Thanks in advance.

Carlos

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2015-05-17 11:22:59 -0500 commented answer Which is the best LIDAR sensor to use Hector_mapping (Hector_slam)

Thank you so much. It's the answer that I was expecting. Thank you AlexR. I just want to work in indoor environments and as I had written, Im developing an application to merge maps from different robots, so I need robots with short range but with good performance doing slam. Thank you :)

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2015-05-15 16:20:43 -0500 asked a question Which is the best LIDAR sensor to use Hector_mapping (Hector_slam)

Hi everyone.

In this opportunity I want to know which is the best option to use and do SLAM with hector_mapping. I have 3 options: Hokuyo URG-04LX-UG01 (10Hz), RPLidar (max 10Hz), Hokuyo UST-10LX Scanning Laser Rangefinder (40Hz). I'm developing a project to merge OGMs (Occupancy Grid Map) from different robots, so I want to decide which is the best option to buy the best Lidar sensor. I know the importance of the Lidar scanning frequency to do SLAM and I know those sensors can do slam with hector_mapping, but those options differs in their prices. In fact, one Hokuyo UST10LX is equals to 5 RPLidar or 2 Hokuyo URG-04LX.

So, my question is, based on your wide and big expirience, Hokuyo URG-04LX has a good performance doing slam with hector_slam? RPLidar has a normal or good performance doing the same task?. I know Hokuyo UST-10LX is the best option for its specs (scanning frequency, over all) but I could get more robots with the others laser options. Take into account I don't care detection range, I just want to know is those options are enable for slam applications and do slam with hector_mapping.

Thank you in advance. I hope you can advise me.

Regards, Carlos Velasquez Colombia

2015-05-15 15:39:22 -0500 marked best answer How to localize a robot in a known map

Hi everyone,

I'm new in this world of mobile robots and ROS. Currently I wanna know if there are techniques implemented in ROS for self-localization or localization of a robot in a known map that it's provided by a map_server. I try to use AMCL from de Navigation Stack but I could not make it work because I use hector_mapping without odometry information to build a accurate map and, in this moment, my robot doesn't provide me the odometry information. I just wanna know if anyone in this community has/meets or has developed a technique ir ros to do this requirement for navigating. I configured my amcl.launch like several examples in this community but AMCL doesn't work. I tried this solution ( http://answers.ros.org/question/10497... ) and unfortunately I could not get good results, in RVIZ the particleCloud topic doesn't provide a real good localization, any error or warning doesn't appear in the console and all particles, provide in this topic, diverge against to converge to a good pose. I don't know what to do. I think I have to provide a good odometry from my robot but I have read that if I provide bad odometry, AMCL won't work. Anyone knows or has a good tutorial to do that, the information from AMCL package is still insufficient for me because I'm a noob in these topics.

Please, help me, I would appreciate any idea, comment or any solution to do this.

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2014-11-12 11:50:01 -0500 commented answer hector_navigation_node problem compilation

Your welcome :D

2014-11-12 07:31:21 -0500 commented answer hector_navigation_node problem compilation

DO you use the launch file in the hector_exploration_node directory? Do you compile the stack with "osmake hector_navigation" commad? Try with these steps and write again in this post after prove that.

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2014-11-05 12:24:55 -0500 commented question How to solve these error messages from nav2d tutorials.

Yes sir, that was the problem. Thanks for your answer.

2014-11-05 12:22:32 -0500 answered a question hector_navigation_node problem compilation

Probably, You haven't added the hector navigation stack to your ROS_PACKAGE_PATH. Verify that and if You haven't done it yet, You could download the hector_navigation package to Catkin Workspace. Then, you have to compile the package, in catkin, using de catkin_make command in the catkin directory, not in the catkin source directory because You could damage the catkin workspace. If all is OK in the compilation console, You have to add the catkin workspace to rospath using the command source devel/setup.bash .

After that, You could list all your packages and see your hector_navigation stack with all their packages in the rospack list.

The last step is to build the entire package with rosmake hector_navigation command. If all is OK, you can launch the hector_exploration_node with the following launch file:

<launch>
<node pkg="hector_exploration_node" type="exploration_planner_node" name="hector_exploration_node" output="screen">

    <rosparam file="$(find hector_exploration_node)/config/costmap.yaml" command="load" />

</node>

</launch>

In the costmap.yaml you can configure the footprint of your robot.

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2014-10-14 00:08:31 -0500 commented answer Ubuntu 12.04.2 and openni_launch not detecting Kinect after update?

Wow!!!!!! That worked for me, thanks a lot !!!!!

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2014-10-03 15:30:13 -0500 asked a question How to solve these error messages from nav2d tutorials.

Hi everyone.

I try to do the tutorials from nav2D and when I run the tutirialX.launch I get these errors:

[ERROR] [1412367505.742519058, 35.800000000]: Failed to send PAUSE_COMMAND to Navigator.
[ERROR] [1412367510.758595622, 40.800000000]: Failed to send STOP_COMMAND to Navigator.
[ERROR] [1412367517.638542157, 47.700000000]: Failed to send GETMAP_COMMAND to GetMap-Client.
[ERROR] [1412367517.982605682, 48.000000000]: Failed to send EXPLORE_COMMAND to Explore-Client.

I don't know I get these errors, so I would apreciate if someone could help me with this. I wanna post another question from this package: nad2D_localizer need a topic that publishes odometry information or not?

Thank you in advance for any answer.

2014-10-03 11:31:58 -0500 commented question How to localize a robot in a known map

I drive my robot with a PWM's modulation (I send a PWM reference), so I can't really estimate the velocities of my robot because my driver control (Driver Maxon Exon 50) doesn't provide me the information about my sensors, it implements a closed loop control but it doesn't provide me a feedback.

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2014-10-03 00:50:26 -0500 commented question use navigation stack with different method for localization

I'm the same question about how to fusion or use AMCL and Hector_mapping