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Questions tagged [slam]

SLAM (Simultaneous Localization And Mapping) refers to a robot building a map of its environment through it's sensor data (mapping) and keeping track of its own position in that map (localization) at the same time.

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NAV2 and slam toolbox without prior map

First Represents my simple custom gazebo world Second image shows rviz and NAV2 terminal output(Right top), slam Toolbox(Left bottom) launched in empty world The third image represents launched NAV2(...
Rakshit Soni's user avatar
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Using SLAM in window cleaning robot

With my industrial design project group we are in the early stages of developing a window cleaning robot for tall buildings. We would like to have this robot map the facade of the building using SLAM. ...
Inger's user avatar
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No map received | rvis | le potato aml-s905X-cc | rp lidar a1

I currently have a SLAMTEC RPlidar a1 hooked up to a le potato (rasp pi copy). I'm trying to run turtlebot3 cartographer (and eventually nav2). When I run the command ...
kyle brockman's user avatar
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2 answers
142 views

How to use smartphone IMU in ROS?

I would like to get the IMU sensors (accelerometer and gyroscope) on my android smartphone to be usable in ROS running on my laptop so I can use it with SLAM. What would be the best way to go about ...
JassD's user avatar
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274 views

Is there a way to do a 3D map only with a 2D Lidar and IMU sensor in ros2?

I'm working in ros2 humble with a 2D lidar and an IMU sensor and I'm willing to do a 3D mapping with this things. I have already done a 2D mapping using RF2O pkg (that gives me an odometry only with ...
Thiago Blanco's user avatar
1 vote
2 answers
104 views

SLAM but without actually driving the Robot?

I am just starting with SLAM and have to implement SLAM to get a dimensions (map) of an indoor space. I have looked at the turtlebot3 slam and slam_toolboox packages with algorithms like gmapping and ...
Rushabh's user avatar
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explore_lite targets places that cannot be moved

https://youtu.be/2WH144VZezA As shown in the video, explore_lite targets a place that cannot be moved, and teb_local_planner stops moving. I want to aim far away from walls and avoiding obstacle areas....
MobileRobotics's user avatar
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63 views

Is there any way to know if tmux is slow for a multi-robot experiment and if there are alternatives?

I'm trying to run a multi-robot SLAM experiment, which is similar to that of Kimera-Multi, that uses tmux to run numerous shell and ROS commands. I'm on ubuntu 20.04 and ROS noetic. I'm running on an ...
GShim23's user avatar
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1 vote
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How should a small robotics startup go about building a data platform?

We're a small company making ROS based robots that rely heavily on SLAM and perception. We're looking for a data platform solution, something like Foxglove or formant.io as a base data management tool,...
user36880's user avatar
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148 views

ROS1 Noetic Slam Toolbox No Map received in rviz

i want to use the slam toolbox to create a map. I git cloned the slam_toolbox package inside my workspace and created a slam_toolbox.launch file. However, the map doesn't show up. Did i forget ...
ChangeNAL's user avatar
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Regarding rviz display after converting from sensor_msgs::Range type to sensor_msgs::LaserScan type

ver: lubuntu20.04, ros1-noetic, raspberry Pi 4 I am currently thinking of doing SLAM using a ToF sensor called vl53l1x. The SLAM I plan to use is Hector-SLAM. However, I am confused about converting ...
S.Tomo's user avatar
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slam problem with information about depth and position

I am trying to solve a slam problem for a unicycle moving on a plane. The sensor is a camera (eyes3d) that can provide the distance of the camera from a certain landmark and the position of the ...
massimiliano frasca's user avatar
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1 answer
132 views

Goal pose off the gloabl costmap with nav2 and slam-toolbox

I'm using slam_toolbox and nav2 stack to carry out SLAM with a quadcopter equipped with a LIDAR and a odometry camera in a simulated environment using Gazebo Garden (ROS2, Humble). On the left, the ...
pga's user avatar
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411 views

ROS2 SLAM without Lidar

I am trying to implement SLAM and robot localization for my ROV - remotely operated underwater vehicle- without using lidar. nor wheel encoders since the rov's movement uses T200 thrusters and not ...
quark epsi's user avatar
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1 answer
119 views

Understanding reprojection error / visual residual in ORB-SLAM3

I am trying to understand ORB-SLAM3 paper. It gives visual residual / reprojectio error equation as follows: $$r_{ij}=u_{ij}-\prod(T_{CB}T^{-1}_i\oplus x_j)$$ where, $r_{ij}$ is reprojection error ...
Mahesha999's user avatar
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693 views

Intel RealSense with ROS 2

I am just getting started with Intel Real Sense integration with ROS2. When trying to install Intel real sense packages in ROS 2 Humble, the official documentation says the supported kernel version of ...
Ajay Adit J 's user avatar
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30 views

Observability of Gravity in SLAM

A number of SLAM systems only optimize over 4 variables(location and yaw) as they argue gravity is observable which constrains roll and pitch. I don't understand this argument since in theory you ...
FourierFlux's user avatar
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Pose Graph SLAM Frontend and Backend confusion

I have confusion about constructing the graph for pose graph SLAM. What I understood, there are two types of edges (i.e. constraints): Edge/Constraint between two consecutive poses Edge/Constraint ...
Cluv's user avatar
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Unable to localize multi robot due to amcl not receiving scan data

Hello guys i am working on multi robot. All works well. I am able to get topics for different robot for their namespaces . I am also able to echo the scan topics , provide the map by the map-server ...
Davies Ogunsina's user avatar
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1 answer
2k views

ROS2 Humble, 3D Lidar, LIO-SAM slam and nav2: how to make it work together with global map?

This is my very first question in this community. So, I'm a bit stuck. Given data: I got akkerman mode robot with 3D Lidar, 9-Axis IMU + GNSS, ROS2 Humble, Nav2 stack. After a while, achieved LIO-SAM ...
whiteagle's user avatar
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2 answers
394 views

ROS2 SLAM doesn’t scan the map properly

It’s sometimes really frustrating. I used slam for a really big map and suddenly it didn’t scan the map correctly. So I had to start again. Yesterday i spended 30 min (the map is really big) and ...
Rosie's user avatar
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69 views

SVO 2.0 - is there any way to save/load a map?

I was looking for an indoor SLAM algorithm to run on a robot and came across SVO 2.0 which looks very impressive: https://github.com/uzh-rpg/rpg_svo_pro_open But from a brief look it doesn't seem to ...
JassD's user avatar
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2Dcostmaps are not working properly

I DON'T use a pre-built map and i am trying to do navigation. I am using gmapping for that. First of all the rolling window in local costmap is not working at all. Second problem is that it doesn't ...
kostas T's user avatar
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2 answers
185 views

Traffic cone detection and mapping

as part of formula student car racing I need a SLAM algorithm that will recognize cones and will build a map (there will be a few laps therefore map is needed for optimal path). The cones are of ...
Shahar's user avatar
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submap_slices and last_frame_id is empty | Rviz2 not opening

I am trying to use cartographer on theros2 launch turtlebot3_gazebo turtlebot3_world.launch.py but when i run ...
Mubashir's user avatar
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1 answer
56 views

UM7 Orientation Sensor IMU not Publishing at 255 Hz. It is around 20-45 Hz, How to fix?

I really want to ask you about the UM7 Orientation Sensor we purchased. We want so much to use the UM7 in our research. As it is mentioned on the Pololu website, the IMU transmits data using human-...
Matthew Lisondra's user avatar
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1 answer
54 views

Which ROS2 version for RPI4?

I wasted like 2 weeks with Humble before realizing Gazebo packages were not available for ARM64/rpi4 platforms I dont feel like trying them all, so can someone point me to a ROS2 version that is sure ...
phil's user avatar
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488 views

No map received on RVIZ2

i did slam cartographer and saved succesfully the map. But after running nav2 the map doess not appear on RVIZ2 and the message says no map received. I did check and /scan and /map works, also ...
huseyn haydarov's user avatar
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1 answer
246 views

<Using SLAM to map areas> Unable to save map

I'm working on a tutorial for turtlebot4. And now I'm working on "mapping with SLAM". I spawned turtlebot4 on an original world different from the tutorial and used the keyboard to move the ...
rryok's user avatar
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18 views

LiDAR Mapping Methods for a straight section of featureless environment (straight sections of pipe, tunnels etc)

Are there lidar mapping methods(algorithms/software packages) available that can be used to map featureless environment like straight sections of pipes? (It could use imu/wheel encoders to estimate ...
Vineet Pandey's user avatar
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27 views

Heading estimation for differential drive robot

My robot fried its BNO055 IMU, (which never gave the heading estimation improvement I sought), so I am investigating my options. I noticed the ROS 2 iRobot Create uses wheel encoders, an optical flow ...
Cyclical Obsessive's user avatar
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24 views

How can I get the relative position of a static object to another device with IMU?

I want to be able to search for an lost RFID, in a room. I have an RFID scanner (hand held) and an Android phone with typical sensors (gravity, acceleration, gyroscpose, etc.). I also have RSSI and ...
HLB's user avatar
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3 votes
1 answer
117 views

Autonomous Mapping help!

I have a robot that uses odometry and Lidar. Im using both Nav2 and slam_toolbox in order to manually create the map and then navigating through it. My question is, Is there a way to make the robot ...
Danana's user avatar
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4 answers
280 views

Lidar/laser scan moves when the bot is moving while generating map

I have been trying to generate a map using lidar/laser scan data in my 4_wheel_bot with the help of slam_gmapping package. When i start the simulation the output of the terminal shows "...
Vasanth's user avatar
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1 answer
295 views

Issues with Goal Pose Setting using SLAM in Nav2 Stack for GPS-based Navigation

I am currently working on a GPS-based navigation solution to send latitude and longitude (converted to odom local coordinate system by navsat_transform_node) as a goal pose and use the Nav2 stack to ...
Marcus Vinicius's user avatar
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277 views

offline mapping with slam_toolbox does not publish /map

I am trying to obtain an offline map by using slam_toolbox with the F1TENTH car. Setup on the car is ros foxy and ubuntu 20.04 First, I collected rosbag of all topics by ros2 bag record -a Then runned ...
taparang's user avatar
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0 answers
30 views

EKFSLAM with LiDAR and IMU + GPS localization module

There are many resources that relate to EKFSLAM based on the presence of only a LiDAR unit, which localize both the vehicle and the detected landmarks. I see that they often use state vectors that get ...
mOSRobots's user avatar
1 vote
1 answer
560 views

slam_toolbox + LD19 LIDAR

I recently purchased the LIDAR LD19. I managed to configure it and it is working fine, presenting the data in the RVIZ (LaserScan). The LIDAR node is configured as described at: https://github.com/...
Carlos Bezerrra UFG's user avatar
1 vote
0 answers
35 views

Alternative Landmark Observation Model for Fast SLAM using 3D Point Clouds

I am in the process of implementing a Fast-SLAM Algorithm as it is described in Chapter 13 of Probabilistic Robotics by Thrun, Burgard and Fox or this publication by Thrun, Koller and Wegbreit however,...
Roman Stadlhuber's user avatar
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173 views

Problem in Launching Gazebo using bot_launch.py file in launch file [duplicate]

hello good day i experience error on running a launch file in ros2. The file is use to launch gazebo empty world. I'm new in ROS2 i still confuse on how to create workspaces and etc. can you ...
ken's user avatar
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43 views

How can I derive a metric comparing two 2D laser scans quantitatively, WITHOUT using any scan matching techniques?

TLDR version: I have two laser scans taken at the same pose that align nearly completely (see image). I want to come up with a metric that can quantify how well one did as opposed to the other. Longer ...
Shrinivas Iyengar's user avatar
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97 views

How to launch any launch.py file in ros2 humble?

My question is a little bit different. I am following this video and this GitHub repository. Problem: How can I launch turltebot3_dqn_stage4.launch.py file instead ...
Munionics's user avatar
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1 answer
19 views

External camera as SLAM sensor/input for navigation

Hi everyone! If this question has been asked somewhere else, please point me there. Consider the following challenge: onboard navigation is not accurate enough. We'd like to enhance it using outboard ...
user avatar
1 vote
2 answers
59 views

Multisession odometry

I have two bag files with significant overlap and multiple loop closure opportunities. However, these bag files were recorded at different times. I want to use these bag files to reconstruct a scene ...
Dimitar Baldzhiev's user avatar
-1 votes
1 answer
32 views

How does BA work for 3d lidar? Particularly VLP16/VLP32 aren't dense enough

How do you run bundle adjustment on a sequence of 3d lidar recordings if the scan is relatively sparse? I read something about attempting to match up planes/edges but there wasn't much detail given. I ...
FourierFlux's user avatar
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2 answers
528 views

Marginalization vs Dropping states for sliding window VO

When doing fixed lag smoothing or Windowed Smoothing for visual odometry and map construction, how does marginaliztion differ from dropping past states? How does each work? I assumed fixed lag ...
FourierFlux's user avatar
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1 answer
263 views

Drifting issue in ROS2 using SLAM-Toolbox

I'm slightly new to robotics and I'm trying to prototype using ROS2-Galactic, I am using built-in packages such as Slam Toolbox and others. Now that I'm trying to run it, I'm having some issues with ...
n000b's user avatar
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4 votes
1 answer
325 views

Why visual SLAM is seldomly used in autonomous driving?

In research called Occupancy Network by Tesla, the occupancy map is constructed by the deep learning method. We know that visual SLAM can compose maps like Octomap, either. And Octomap can be used for ...
Mr.parker's user avatar
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59 views

How does NDT work with global bundle adjustment?

I was reading about pointcloud matching and SLAM. NDT is one approach to scan matching, what I am confused on is how you do global bundle adjustment using NDT occupancy grid. https://www.researchgate....
FourierFlux's user avatar
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1 answer
881 views

ROS Package Dependencies Installation for Begginer

I am new with ROS, just started few days ago basically. I have one question regarding my workspace and packages. Let's say I created my workspace catkin_ws and I ...
Cluv's user avatar
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