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Hello, Have you seen IEEE Spectrum's video Friday last? A video with Turtlebot3 was introduced. We will share the development news of Turtlebot3 every week. ![]() Video Friday: Kengoro the Sweaty Robot, Camera Dron...Your weekly selection of awesome robot videos Today, I would like to introduce the video related to SLAM which is the basic function of TurtleBot3. https://www.youtube.com/embed/lkW4-dG2BCY Date: 2016.11.29 If you have any questions or concerns for TurtleBot3, please notice us. Best regards, |
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Could you share the associated bag for this video? I think the Cartographer results could be easily improved and we'd be happy to host a TB3 configuration with a demo bag. |
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You mentioned that you are using a "Laser Distance Sensor", can you share which one you are using specifically? It would be interesting to know how well mapping performs with a lower FOV sensor, like an Astra or Realsense. Also is this running in real-time, if so which SBC are you using? |
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Hi Damon Kohler, We are still lacking, but I think we can do better if we get your help. Thanks :slight_smile: |
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We are using a variety of LDS. Typically, these sensors are RPLidar A1 and A2, SICK, Hokuyo. We will support various SBCs for TurtleBot3. |
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The bag doesn't seem to contain odometry. I assume you had that available for gmapping, though? Cartographer would also benefit from it. |
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@damonkohler |
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Thanks, Pyo. Glad to hear it! Odometry is usually provided via nav_msgs/Odometry messages. The /odom frame in /tf is then a product of some node that processes the odometry messages. |
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Thank you. We are awaiting the Kinetic version of the cartographer. It is very difficult to install the current indigo version on ROS Kinetic. It is not easy due to the problem of ceres-solver and errors during installation. So we were using the modified package of the link below for ROS kinetic. We are hoping to be able to install the Google Cartographer as binary from ROS kinetic soon. Https://github.com/hitcm/ceres-solver-1.11.0.Git |
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We'll work on some documentation for installing from source on Kinetic. But, having a binary release is blocked on having an updated Ceres package for Kinetic. I believe @tfoote is working on that. Can you add a nav_msgs/Odometry publisher? |
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I saw your thread. https://discourse.ros.org/t/ceres-package/872 And, I will add an odometry publisher you mentioned into the next update as soon as possible. Thanks, |