Hi folks,
finding the tutorials linked in this question http://answers.ros.org/question/60363/neato-laser-scan-shows-impossible-datas-in-rviz/ I learned a lot of connecting Neatos lidar to ros. But because I'm not so firm with ros (at work I'm only developing complex C++ programs) I hope, someone can teach me a way to fullfill my wish: I owned a Vorwerk VR100 wit Rev. 64 PCB (so no additional serial ports are known at this time). So I planned to connect a transparent bluetooth module to the lidars port (only listening to the lidar datas during the cleaning process). I don't want to control the robot at the first time. Only passive scanning the lidar data. I'd like to watch live, how a map of my house is created out of this continuous lidar data without additional odometry as seen in this video: http://www.youtube.com/watch?v=o9KzTR0vTXk Later I want to add a trace along the way of the robot as wide as it's brushes to find out skipped and not cleaned areas and to remove obstacles causing such areas. There was a video showing this procedure by the Neato developers with a live view inside it's brain: http://www.youtube.com/watch?v=hf1zY8vRC2E So is there a way, to create a map only using the lidar data without odometry and without control of the robot?
Sorry for my poor english, I'm german.
Appendix 1: system: Ubuntu 10.10 maverick ros: cturtle installation: http://xv11hacking.wikispaces.com/Connecting+to+ROS and https://github.com/tu-darmstadt-ros-pkg/hector_slam
Made successfully "rosmake eigen", checked all entrys from wiki for ros+eigen but get furthermore on "rosmake hector_slam" the errors "Failed to find rosdep eigen for package ..." in a lot of packages and "Could not find module FindOpenCV.cmake or a..." in package hector_compressed_map_transport. Why it isn't possible to get a consistent IDE in linux or at least understandable an reproducible instructions to build a package? Is there anyone, who has installed these packages successfully and can give me a hint, where I made the misstake processing the tutorials?
Appendix 2: Now, with ubuntu 12.04 and ros fuerte I got no errormessages at the begin of the buildprocess. But now the process stops building "hector_geotiff_plugins": /home/vr100/ros/hector_slam/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp:117:109: Fehler: expected constructor, destructor, or type conversion at end of input make[3]: *** [CMakeFiles/hector_geotiff_plugins.dir/src/trajectory_geotiff_plugin.o] Fehler 1 make[3]: Verlasse Verzeichnis '/home/vr100/ros/hector_slam/hector_geotiff_plugins/build"
The source snippet out of trajectory_geotiff_plugin.cpp: 116 #include <pluginlib/class_list_macros.h> 117 PLUGINLIB_EXPORT_CLASS(hector_geotiff_plugins::TrajectoryMapWriter, hector_geotiff::MapWriterPluginInterface)
I made all here requested modifications for "Eigen" but had no success. He doesn't like the line with "PLUGINLIB_EXPORT_CLASS". Any hints?
Edit: Excluding this line from build will succeed the build process and all parts are to see in rviz. But this can't be the final solution because the geotiff_plugin now is not functional.
Appendix 3: Now I can create and show maps using the lidar data of the VR100 robot. But this works only if I record the data before using rosbag and then send them via playback to the map/rviz. Only recorded data affects any reaktion in rviz. Using the live lidar data, no reaction on the map is to see. When I playback the previous data parallel, these data create a map and afterwards the life data affects the direction and (the false) position of the shown tf (red/green angle) but not the map. rostopic shows in both cases the published /scan and /rpms topics (both subscribed by at least one subscribers). When running driver and rosbag-player in parallel, /scan and /rmps-topics have two publishers. I changed the neato driver to publish its frame name also with "scan" to prevent the usage of remapping to "neato_laser" or other difficulties.
Appendix 4:
Big thanks to dornhege and jodafo. Now the lidar data are shown in the map. Yesterday I got my serial-bluetooth module from china, build it into the robot and can now watch it all over the house. Two questions are left. Which parameters I have to optimize to prevent the mapper from lose the actual position of the robot and starting a new map on another position: http://img801.imageshack.us/img801/9921/g52m.png The maximal and minimal values for the laser data I already limited to 3m and 30cm. Second: I'd like to add a path with the wide of the brushes of the robot (~30cm) to see, witch areas were cleaned and which skipped. The path display itself let me only change the color, not the wide. Is there a possibility to create a own path display with a wider line?
Originally posted by FlashErase on ROS Answers with karma: 39 on 2013-09-03
Post score: 0
Original comments
Comment by jodafo on 2013-09-08:
you most likely won't need the geotiff_plugin as long as you don't want to participate in robocup rescue ;).
as for the error, i could imagine it broke somewhere in the process of making hector slam run on groovy shrug.
Comment by FlashErase on 2013-09-09:
Thank you for this hint. In this case I'll ignore this error and let the problematic line excluded.
Comment by dornhege on 2013-09-11:
For additional questions, please open a new question instead of appending them here.
