RoSPlebb's profile - activity

Greetings!

I am working on a project which requires complete coverage of a room. So given some map, how can i traverse every "open cell" (no obstacle) of that room. This is similar to the autonomous lawn mowing where the robot must cover all the grass and not miss an area.

Is there a ROS package for complete coverage? I have looked and found a couple packages but im not quite sure what i should be looking for or where to start.

Thank you for any help you may be able to provide!

Hector_Navigation creates but does not follow a path. If the robot tries to move to towards the path, immediately a new path is generated.

Can anyone list possible reasons why this happens?

Greetings!

Goal: Using Hector SLAM and Hector Navigation i want to autonomously map any given room.

Problem: When i run Hector SLAM, Hector Navigation the twist messages come slowly. The robot is given a message and will continue on that path until given another value, but that next value comes too slow so the robot doesnt follow the path and runs into obstacles.

Where in the package can i change the rate the twist messages are published.

Hey @Stefan Kohlbrecher my hector exploration controller is sending cmd_vel values in bursts and the arduino does not read all the values because the cmd_vel values come in so fast. Is there a way to change how the values are transmitted? Is it intended to be sent out in bursts?

Greetings,

I want to use Heatmap for coverage planning of a known environment, and i have a few basic questions about it for anyone who has used it.

1. Why does this package require WiFi?
2. Has anyone found any documentation on how this package works or tutorials on using it?
3. I believe the Heatmap implements the automow package. What is the difference between me using the Heatmap package and the automow package? Does the automow package use a costmap? If there is not costmap how does the mower know there is an obstacle?
4. Where exactly is the heatmap package pulling the map from?

Thank you for any help you may be able to provide.

Greetings!

I am new to ROS and i am implementing hector_slam and hector_navigation.

So the hector_navigation hector_exploration_controller publishes a cmd_vel message.

In arduino how can i access this data. How do i subscribe to the message and extract the data?

Thank you for any help you may be able to provide.

@spmaniato I also get an error that says "Cannot find robot pose" This is when the robot switches direction during oscillation. Do you know if the robot pose is the reason there is oscillation? I will test different parameters for velocities and tolerances. Thank you for your help!

Hey guys!

I finally got everything set up on my robot with rplidar, hector slam, hector navigation and rosserial and was able to test hector navigation. My goal is to have the robot map the room autonomously. I have a couple of questions after the test.

1) The robot oscillates A LOT. It also oscillates when it is trying to overcome obstacles but I assume that is intended. How can i suppress this oscillation? (See Provided Video)

2) The robot was able to see the box in front of it and moved around it, however there were some places that the robot did not explore after 10 minutes of me watching it. The room is fairly small and clear (besides the box i threw in the middle to see if the robot would avoid it) and i hoped it would go completely around the box but it did not. It went a little to the side and went backwards. How can i make sure the robot explores ALL unknown areas?

3) When i echo cmd_vel the values are spit out in bursts. Is that normal, is there a way to fix that so it is a steady stream of numbers?

Edit: This is what the robot currently is doing: https://www.youtube.com/watch?v=-doL3...

Update: I get an error from the hector_exploration_node "Could not find robot pose"

Thank you in advance for the help i greatly appreciate it :)