ROS arduino bridge and IR distance sensor as PML

[gerard M Kelly]

Has anyone rewritten the old pi bot PML to work with ROS arduino bridge? http://www.pirobot.org/blog/0014/

I am trying to learn the navigation stack on my little Baron platform that I am using a a sandbox for my larger outdoor yard helper bot so can put up with the low resolution.

Should I be asking this somewhere else?
Thanks

[Patrick Goebel]

Hi Gerard,

I'm afraid my old PML code is long gone.  (Not sure where it went as I don't usually delete that kind of thing...).  However, you might find this web page helpful.  Looks like a very thorough approach to doing SLAM with ROS using sensors other than a laser.  I found this page by Googling "fake laser ROS sonar" and there are other hits that you might find useful as well.

--patrick

[gerard M Kelly]

Thanks for looking Patrick. I searched the net and will probably put something together from the bits and pieces found. The approach at the moment is, Add a sensor type to the bridge Arduino code that will gather and respond with the distance array, modify bridge Python node to poll for sensor array and publish on topic, add a new node to listen on that topics and publish a laser scan using sensor tutorial as a guide. http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors