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Hi,

I want to mount a Kinect on our Coppa Robot. I'm still new to ROS etc. so my question is: will it be "enough" to create a map of a building? If I understood it correctly, TurtleBot is doing that and a lot more using Kinect only? So I'd just have to use GMapping to create a map and later amcl to estimate the position? That's it? (sounds a bit too easy) ;)

Update: it is possible only if you have really good odometry. Without it you can forget it (amcl might still work but gmapping won't).


Originally posted by Cav on ROS Answers with karma: 345 on 2012-01-12

Post score: 1

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2 Answers 2

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You'll need the pointcloud_to_laserscan and slam_gmapping packages to accomplish this. You should have a look at turtlebot_navigation gmapping_demo.launch as a good example of how to accomplish what you want. You can find additional help in a number of questions on this board, including here.


Originally posted by DimitriProsser with karma: 11163 on 2012-01-12

This answer was ACCEPTED on the original site

Post score: 4


Original comments

Comment by Cav on 2012-01-12:
Great, now I just need to wait for the kinect to arrive :)

Comment by DimitriProsser on 2012-01-12:
I do believe so. I've never done it myself, but there's a lot of support for it on this forum.

Comment by Cav on 2012-01-12:
Ok, thanks. So Kinect is enough to accomplish all of that?

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For me the most tricky part turned out to be the odometry information passing. I took the base of this tutorial : http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom

Altered it a bit to fit my needs, but it mostly remained the same. If you need any more help, let me know ;)


Originally posted by Hansg91 with karma: 1909 on 2012-01-12

This answer was NOT ACCEPTED on the original site

Post score: 1


Original comments

Comment by Cav on 2012-01-24:
Same here, odometry is a pain. My robot does not have a stepper motor and I don't know how to calculate the speed. In my case it's just a value between 0-100. The actual speed depends on many factors (battery state, ground, laptop weight, ...) so measuring it is pointless.Any Idea how to solve that?

Comment by joq on 2012-03-23:
A good Inertial Measurement Unit might help.

Comment by Cav on 2012-04-17:
A gyroscope and setting the speed to a fixed value helps a bit.

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