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hello sir ,
for my final year project ive been told to implement 3d SLAM on a mobile robot but i dont have the privelage to bots lie turtlebot ( so itll be something like a stepper motor with encoders ) i know very little about programming ( im a BE student aeronautical engineering ) so sir where should i start from ? i have sent you an email as well i wondered if ull receive it so i started a thread instead . ill be asking some stupid questions as im a complete newbie but i know at the end of year ull be proud too :D |
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You will have to know more about ROS. I recommend to start with ROS tutorials:
http://wiki.ros.org/ROS/Tutorials If you have questions about ROS, you can look at the ROS forum for answers: http://answers.ros.org/questions/ These tutorials can help too: http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM When you will be able to understand 2D SLAM using gmapping or hector_mapping packages, come back to rtabmap for 3D SLAM. cheers |
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ive already implemented RTABMAP using only kinect and have mapped my room .. i want to go inside the code .. like which language it is in ? and how to edit the code ?
since it is a FYP in B.Engineering , i need to go through the theory part as well ... also i want to ask how hard will it be to implement it on a robot with my stepper motors and encoders ( and not on turtlebot etc ) .. do i need to learn programming alot for it ? what all changes will i have to make sorry for noob questions sir :) |
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Hi,
The programming language is C++. You may not have to play with the rtabmap code directly, as you can use the nodes directly. There are many demos on this page: http://wiki.ros.org/rtabmap_ros. Install the package binaries after installing ROS: $ sudo apt-get install ros-indigo-rtabmap-rosFor theory about RTAB-Map, you can read the referred papers. So you will need to learn about ROS and C++/Python programming if you want to implement new ROS nodes, refer to hyperlinks in the previous post. RTAB-Map can be implemented on any robots. cheers |
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hi ,
in the tutorials i saw this for setting up my robot f your robot has odometry: the robot should publish his odometry in nav_msgs/Odometry format. how to do this ? can u please explain a little . thanks |
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Hi,
There is a good tutorial on ROS navigation stack about how to publish this message and /odom->/base_link TF: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom cheers |
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This post was updated on Nov 05, 2015; 9:05am.
hi,
thanks for your previous replies im using intel nuc with turtlebot .. and ive seen many versions of rtabmap .. like a ROS version and a standalone version . so which one should i install in the nuc ? and whats really the difference ? also i want to know the difference between these https://github.com/introlab/rtabmap_ros and https://github.com/introlab/rtabmap thank you |
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Hi,
rtabmap_ros is a wrapper of rtabmap for ROS. If you want to use rtabmap on a robot, I recommend to use rtabmap_ros. See this page: http://wiki.ros.org/rtabmap_ros, for demo and tutorials. cheers |
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hi,
i want to know how to change the frequency of the RPLIDAR .. im using both kinect and LIDAR for RTAB-map and i cant figure out where in the code is the configuration located so that i can change it from 5.5Hz to lets say 10 Hz which is the max it can support) . Any help would be highly appreciated thanks in advance |
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That parameter should be on the node publishing the laser scans. Well, on the RPLIDAR page, it is written:
cheers |
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hi
yes i know that but how do i actually do it sir ? |
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From the RPLIDAR manual:
If you need more help for this sensor, ask your questions to RPLIDAR support. cheers |
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In reply to this post by matlabbe
There is also an introduction on how to combine RPLIDAR with ROS programming
I would recommend you start with RPLIDAR A1 that only cost $99 and with a raspberry pi. However, depends on your need, for longer radius range requirement, 25m RPLIDAR A3 might be more suitable. |
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