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hi, i install ros kinetic on raspberry pi3 and i configure kinect with hector slam and all work well. now i want to implémante arduino to make a robot with 2 wheels, i install rosserial and i don't know how can i relate hector slam with arduino to control motors. i know that hector slam provide odometry. can you help me please? i don't know how can i control motors with hector slam


Originally posted by Emilien on ROS Answers with karma: 167 on 2016-07-18

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Hector_slam is used for mapping, not autonomous control. You could try taking a look at hector_exploration_planner.

Normally the way it works is a path planner will publish a set of velocities for the robot as a whole. You will need to write a node that will use the inverse kinematic equations for your particular robot to determine the individual wheel velocities required to achieve the desired motion.


Originally posted by Icehawk101 with karma: 955 on 2016-07-18

This answer was ACCEPTED on the original site

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Original comments

Comment by Emilien on 2016-07-19:
thanks, i write a node arduino that publish rpm and subscribe to cmd_vel with ros serial, and i can control my robot with teleop_twist_keyboard. and also i create a package with hector slam that visualise a map. now i want to add odometry to hector_slam for autonomous mapping . what can i do please?

Comment by Icehawk101 on 2016-07-19:
Hector_slam does not require odomtry

Comment by Emilien on 2016-07-19:
so what can i do please? i dont found explication on hector navigation

Comment by Icehawk101 on 2016-07-20:
Ok, so you've built a map using hector_slam and now you want to autonomously drive around that map? Is that right?

Comment by Emilien on 2016-07-20:
nn i can build a map with hector slam but i move kinect with my hand. now i create a robot with 2 motors and arduino (i can controle manually motors with teleop_twist_keyboard) and i want to navigate with this motor autonomously to create a map. can you help me for this?

Comment by RoSPlebb on 2016-07-21:
@Emilien I replied to you on another similar post you created.

@Icehawk101 Youve helped me before and i really appreciate your help. Could you please provide your insight on a couple things on hector navigation please?

http://answers.ros.org/question/239850/hector-navigation-questions/

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