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2012-06-22 05:21:08 -0600 asked a question ros node for mecanum/omniwheel steering

Is there a ros node configured to drive a robot with an omniwheel setup? I'd like to import such a node and use it to simulate and test a robot with that type of wheel configuration.

Thanks, -Ethan

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2012-06-13 08:22:09 -0600 commented question Limiting minimum range of virtual kinect laser scan

I don't know how to check which driver that is.

2012-06-13 06:09:49 -0600 asked a question How can I narrow a virtual kinect laser scan?

I am simulating a turtlebot in Gazebo, and currently I am having issues with the kinect laser scan, which sees about 270 degrees around the robot. I would like to narrow that so that the laser only picks up objects within the 90ish degrees directly in front of the bot. I haven't been able to find a parameter I can simply change to do this.

How might I go about narrowing the field of scan?

2012-06-12 08:30:29 -0600 commented answer simulated turtlebot mapping itself

Do you know of any good method of doing this? I can't seem to find a parameter or file to change to create this filter.

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2012-06-08 11:25:14 -0600 asked a question Limiting minimum range of virtual kinect laser scan

I am trying to simulate a virtual turtlebot creating a map with gmapping in gazebo.

As an answer to a question I asked earlier, I have been advised to limit the minimum distance from the laser a scan must be to be accepted as valid, so that the laser does not pick up the robot itself.

I am having trouble figuring out how to get that done. Does anyone know what the best way to go about that would be? Or where I could read up on making changes like that?

Thanks, -Ethan

2012-06-07 11:34:51 -0600 commented question simulated turtlebot mapping itself

also, note that the little green boxes that represent an object being picked up by the laserscan are also lighting up around the base of the robot. After close analysis the scan appears to be picking up on the four support bars in the robot model

2012-06-07 11:33:24 -0600 commented question simulated turtlebot mapping itself

Here is a screenshot of rviz.

http://imgur.com/qEmcn

As you can see, the room is well mapped, but the robot has left little bits of wall along the path that I drove it. For now it is localized properly, but the more I drive, the more likely these artifacts are to mess with localization.

2012-06-07 11:24:27 -0600 commented question simulated turtlebot mapping itself

I don't know how to post a bag file, but I will if you tell me how.

2012-06-07 05:56:03 -0600 asked a question simulated turtlebot mapping itself

Hi,

I am trying to simulate a turtlebot gmapping with gazebo, a la this tutorial http://mirror.umd.edu/roswiki/turtlebot_simulator%282f%29Tutorials%282f%29Building%2820%29a%2820%29Map%2820%29in%2820%29TurtleBot%2820%29Simulator.html

My issue is that although I have gmapping up and running, I can't get anything close to an accurate map because the laserscan appears to be picking up the bot itself. it places an object where the robot was, and then fails to localize due to the object no longer being there once the bot moves.

Is there any way that I can exempt the robot from the scan?

2012-06-01 09:59:03 -0600 asked a question help finding virtual Turtlebot IP

I am looking to simulate my turtlebot using gazebo for testing, and have been told that for the most part, working with the turtlebot in simulation is identical to working with the turtlebot hardware. My problem right now is that I need to get past the step in the tutorial where I am told to get the IP of the turtlebot using the laptop inside the robot, as my simulated robot does not have a laptop I can access.

How can I find what IP to use to connect to my simulated turtlebot?