Hi. I am building a robot.
Here is what my robot looks like:
Mechanically and electrically it is ready. Time for programming. I read “A Gentle Introduction to ROS”, and have been learning C++.
I am using Indigo with Ubuntu 14.04.
Lidar System Hardware - my lidar system is a Sick LMS200 + Absolute encoder + Servo system. The servo moves the LMS, and the encoder (connected to a Lab Jack U3) is providing the exact location the LMS is pointing at. The encoder has a resolution of 1024, so I get 2.85 lms readings per degree. A low level system call to the Lab Jack U3 will return the encoder position. The servo system is by Applied Motion and is powerful (400watt system), and accurate (70/10,000 is the position error under extreme shaking). To control the servo position I need to send commands via serial. Everything is wired, happy and configured. Manually I can get all 3 main components (LMS, Encoder, Servo) to work (send distance measurements, provide position, and move).
Robot Motion Hardware - The robot has 2 drive wheels (driven by stepper motors with no encoder on them), and 2 caster wheels. The stepper motors are 750 watts, and are driven by a stepper drive which receives commands via Ethernet.
Question - What packages do I need for this robot to drive around and not bump anything while making a map at the same time? Could you please list all the packages needed to:
- Package to get lidar components (LMS, encoder, servo) to work as a single system
- Package to use lidar data for SLAM
- Package for robot to interpret SLAM results and send commands to the drive motors to move
I am very new to ROS, and do not know of any packages other than 'tutlesim'. Any package you suggest I will gladly look into. Do not feel shy to recommend any packages that you feel will help me.
Post score: 0