0
$\begingroup$

Rosanswers logo

Hi,

I am assembling a drone using the Intel® Aero Compute Board, Intel® Aero Vision Accessory Kit (Intel® RealSense™ R200 stereo camera) and other sensors. I don't know where to start and which packages to use. My goal is to build a map, and let the drone navigate and localize in the environment. I would like to know the existence of any package for Mapping and Localization. Thank you.


Originally posted by Andreluizfc on ROS Answers with karma: 25 on 2017-12-06

Post score: 1

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

However I highly recommend that you do all the ros tutorials first.


Originally posted by Humpelstilzchen with karma: 1504 on 2017-12-06

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Andreluizfc on 2017-12-06:
How about an AMCL algorithm? I'll sometimes upload a map and try to perform localization. I'm good with concepts, but not practice. Thanks!

Comment by Humpelstilzchen on 2017-12-06:
You could usedepthimage_to_laserscan to convert your 3d image to 2d lidar data for amcl. But thats not very useful for flying objects where the xy plane changes with the height. Assuming with Drone you refer to an UAV.

Comment by Andreluizfc on 2017-12-06:
It's a quadrotor, yes! My intention is navigation in a fixed Z altitude. I'll model possible obstacles with 3D point cloud and avoid during the navigation.

Comment by Andreluizfc on 2017-12-08:
Besides RTABmap and GMapping, would you recommend other package for building 2D maps? Thanks again, you're being very helpful!

Comment by Humpelstilzchen on 2017-12-08:
hector_mapping might be more useful for you then gmapping because of missing wheel odometry.

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.