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2015-05-07 09:04:19 -0500 commented answer Using turtlebot_create drivers with Roomba 500 series

thanks!!!!

2015-05-06 10:31:59 -0500 commented answer Using turtlebot_create drivers with Roomba 500 series

Did you get the roomba and turtlebot create to work together? Which model of roomba did you have?

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2015-04-21 03:29:48 -0500 commented question gmapping/hectormapping map->scanmatcher_frame

Thanks! That was the key to use robot_localization as odom->base_link transform authority.

2015-04-21 03:27:55 -0500 answered a question gmapping/hectormapping map->scanmatcher_frame

I sounded confused, but I feel much better now :) To answer my question, scanmatcher frame is there for debugging purpose - it's what map-based localization think base_link is, and realized as tf transform between map and odom frames.

The iRobot driver I used has a driver.py wrapper that publish odometry but also a tf message between odom to base_link. I had to comment out the tf message part if I wish to fuse wheel/imu/vo odometry using robot_localization or similar filters.

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2015-04-12 22:02:09 -0500 asked a question gmapping/hectormapping map->scanmatcher_frame

I'm building a simple mapping and navigation robot using iRobot create as base and neato xv-11 lidar. The mapping packages I'm testing are gmapping and hector-mapping. Both SLAM packages appear to publish tf mapping from map to scanmatcher_frame. My iRobot create driver (from Brown university) publishes transform from odom to base_link. I have a robot state publisher that publishes tf from base_link to base_laser, and I setup XV-11 to publish on the base_laser frame.

AFAIK, typical laser mapping robot frames are setup to be map -> odom -> base_link -> base_laser, where SLAM or localization packages publishes tf from map to odom.

There are also packages that fuses IMU, odom, visual odometry into one odom.

If I'd run SLAM and have IMU/wheel encoder-based odom, even visual odometry - how to I link them together? And - as titled - where does scanmatcher_frame fit in?

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2015-04-05 20:46:32 -0500 asked a question jackal gazebo navigation example

Thanks to jackal gazebo tutorial I was able to run it without any issue, and control the robot's twist using interactive markers.

I'm in the process of building a simple robot with XV-11 lidar and iRobot create as its mobile base. Before I get all that up and running - I like to learn about navigation stack and would like to run it completely in gazebo.

What would be a simplest setup for me to run Jackal with navigation stack in gazebo?

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2014-11-13 08:31:27 -0500 commented answer Installing ROS Indigo on Ubuntu 14.10 Utopic Unicorn

Francesco G - may I ask if you used trusty or utopic version of ROS repository to install python bootstraps (for building from source)?

2014-11-13 08:26:39 -0500 commented answer Building indigo on 14.10

OK, I tried "rosdep update", even after wiping and starting over with source build, but still unable to move pass the gazebo error.. I copied the pasted above into respective files you indicated, with root:root permission and readable by all.. I'm using utopic w/ ROS utopic (not trusty) repository?

2014-11-12 09:39:30 -0500 commented answer Installing ROS Indigo on Ubuntu 14.10 Utopic Unicorn

Francesco G, I was wondering how if you encountered gazebo error messages when building on utopic? And if yes, how you move pass that? Thanks!

2014-11-12 09:39:29 -0500 commented answer Building indigo on 14.10

ahendrix- I too try to build from source on utopic and ran into the above error message on gazebo, e.g. "ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: gazebo_ros: no def... gazebo_plugins..." I tried your suggestion still the same error mesg