ashwin's profile - activity

Thank you! For anyone stuck on the same problem, this might be a good starting point. It was for me :)

I am trying to simulate a roomba using ROS. For planning the path and to figure out what area to clean next, I would like to maintain a map where the known cells are the ones visited by the robot and the grey ones are yet to be visited. Obviously feeding laser scans to slam won't generate such a map. My initial attempt was to add a fake lidar to the bot and restrict it's range to denote the cleaning area but when I remapped this data to gmapping the boudaries were labelled as obstacles which is undesired.

How can I efficiently create an OccupancyGrid for a cleaning robot where the known areas in the map denote the areas which the bot has cleaned?

Simulating cleaning map in ROS I am trying to simulate a roomba using ROS. For planning the path and to figure out what

were you able to figure something out?? I am trying to implement the same functionality

I am quite new to particle filters and other localization algorithms. For my project I am using an IMU and 2D LiDAR on a robot for indoor navigation. Is it possible to develop a new (or adapt existing ROS packages) to localize the robot using solely an IMU and LiDAR assuming,

1. I have a map of the environment

2. I do not have a map of the environment?

Setup - ROS Noetic + Ubuntu 20.04

Localization using IMU and LiDAR only I am quite new to particle filters and other localization algorithms. For my proje

ros drivers - publish most recent messages or old ones? While writing a ros driver, suppose the driver isn't able to pub