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[ROS Q&A] 181 - 2D Drone Navigation (Part 1 Mapping)
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- Опубликовано: 17 авг 2024
- * Get all the ROS code of the video in this link: www.rosject.io/...
In the video of today, we are going to see how to easily create a map of an indoor environment using a drone and the gmapping package from the Navigation Stack.
Get the full code of this video with this ROSject Link --▸ www.rosject.io/...
🔴 Subscribe for more free ROS learning: / @theconstruct
RELATED ROS RESOURCES&LINKS:
ROS Development Studio (ROSDS) ---▸ rosds.online
Robot Ignite Academy --▸ www.robotignit...
ROSject Link --▸ www.rosject.io/...
Quadrotor simulation --▸ bitbucket.org/...
depthimage_to_laserscan --▸ wiki.ros.org/de...
Turtlebot Navigation --▸ wiki.ros.org/tu...
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![[ROS Q&A] 180 - RViz receives laser messages but does not display them](http://i.ytimg.com/vi/ZcFPoOhiSpU/mqdefault.jpg)
Muy buen video, un gustazo descubrir que es hispanohablante, saludos desde Mexico Queretaro
Hi,can I request for a navigation video for underwater ROV DRONES?
.Here you have simply used "world" frame as Odometry source which Gazebo is publishing but in real world we have to publish it by our self. Considering it's implementation on a real drone, then what we can use to get the Odometry data.
Very good point Kashif! Assuming that you have mounted a laser on the drone, you can compute a rough odometry based on the laser changes movements. There is an interesting package in ROS that does compute it for you: wiki.ros.org/laser_scan_matcher
Let us know if you implement this modification!
Using Hector slam can we generate 3d map?
I am facing a problem. Running the /takeoff topic is not working as demonstrated in the video. The drone immediately lands after going to a certain height instead of staying in the air? Could you please help me with this problem @The Construct?
Incredibly useful video, do you have any videos which might explain how localization works with sensor fusion of a 2d lidar and imu? We're using the stm32 nucleo board f401re with rplidar and I'm not sure how to get it working.
Thanks!
Hi James, just a small correction: you should not directly fuse lidar with IMU for localization. You can fuse IMU with odometry or with a particle filter localization (which uses the lidar). I don't know about your specific board, but we just released a course that clearly explains how to do this fusing, as well as using GPS with odometry, and some more. The online course is here: www.theconstructsim.com/construct-learn-develop-robots-using-ros/robotigniteacademy_learnros/ros-courses-library/ros-robot-localization-package/
Also, we did a Live Class about this subject some months ago. You can find them here: ruclips.net/video/nQZeAafDEJE/видео.html
@@TheConstruct I see! Brill, thankyou!
@@TheConstruct Hi, could you please answer the first jamesislost's question? I'm facing the same issue and don't know what to do. Thank you very much for your time
Hi i went well until finally, not able to run roslauch turtlebot_teleop keyboard_teleop.launch. Says file or folder not found
Anybody can help?
I am facing the same problem. Have you been able to get past it?
Install turtlebot package in simulation_ws and then catkin_make .
Hello, great explanations, just I have a couple questions, from which pakage could I copy the launch files if I work with Melodic? How I get something in /scan topic using depthimage_to_laserscan?
any update on this?
for my experience , if you try to run it on a different ROS version , you need to re-catkin_make on your own system, otherwise , you only get lots of error.
Hi i get errors when i run catkin_make
Hey, when I get to 16:50 and do rostopic pub /takeoff std_msgs/Empty "{}", nothing happens? I've enabled the motors and when I echo the rostopic /takeoff I see "---" when the command is used? I'm just trying to get the drone to hover in place like yours
You should first enable motors
rosservice call /enable_motors true
My problem is, the drone takes off, but lands immediately (looks like motors will be shut down, when it reaches some height)
@@thecatalystdesigner4607 Hm yeah that's an interesting problem, have you checked out the /takeoff action file to see if there's a termination command?
I mentioned in the original comment that I have already enabled the motors using the rosservice command but the takeoff command used in this video does nothing.
I installed using the top response here if that seems to make any difference?
answers.ros.org/question/244776/is-it-possible-to-run-the-hector_quadrotor-demos-in-kinetic/
@@darkraiman33 hey, how can I check this file? Thanks for your quick reply
@@thecatalystdesigner4607 Did you get the issue solved?
@@RZtronics I just tried it a lot and at some point it worked. I don't really know why or how anymore.... Sorry
Hello again! In this I noticed after getting to the Frames.pdf section that my frames don't include any of the predecessor frames to base_link. Has there been an update to the code base that caused this change? Thank you!
hello, is it possible to simulate a urdf xacro drone with sitl arducopter?
Really appreciate your work!
Hello. Awesome Video. I have one question though. Here you are using teleop node to control the quadrotor. But in my project i want the robot to move autonomously, that is without using the teleop node. Any idea how i can do it? I have looked it up on the internet but unfortunately i could not find anything useful. Thanks.
Yes, use the navigation stack. Learn how to do it with this course: www.theconstructsim.com/robotigniteacademy_learnros-3/ros-courses-library/ros-courses-programming-drones-ros/
@@TheConstruct the link provided does not work. Could you verify please?
I need the drone to follow a pre planed path.
Ever thing worked fine bu at end tele operation doesn't move the drone.
Did you got the solution for this?
I am facing the same issue.
when I'm trying to takeoff, it takes off, but lands immediately. Any suggestions how to fix it? Thank you
Two questions:
1. Are you using the provided rosject (the link is above in the description area)
2. Have you launched the command:
$ rostopic pub /takeoff std_msgs/Empty "{}"
@@TheConstruct Yes, I tried everything as mentioned in video and am sending the message as it is sent in the video
@@thecatalystdesigner4607 It is strange we just tested that everything is correct. Are you tenting on your local computer or on ROSDS? Can you share with us your rosject, so we can check what is happening with your code?
@@TheConstruct I'm doing it local, BC I want to use it afterwards on a real Intel Aero RTF drone
@@thecatalystdesigner4607 Ok, then it is very difficult to help you with that, because the reasons can be many in your local computer. Can you try in the ROSDS? Do you know that you can connect the ROSDS to your real robot and execute the code from the ROSDS in the real drone? Check this video about it: ruclips.net/video/qFDmUKgAQ9k/видео.html