Quadrotor 2D Mapping and Navigation (ROS Navigation Stack & Gazebo)
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- Опубликовано: 8 май 2016
- Quadrotor 2D Mapping and Navigation (ROS & Gazebo)
8 May 2016
www.wilselby.com/research/ros-integration/
Wil Selby
This project focused on simulating a Kinect sensor and a quadrotor to develop a 2D map of the environment and subsequently using the map for localization, path planning, and obstacle avoidance. This video tutorial briefly covers the following topics:
- Manipulating the Kinect sensor data to emulate a laser scan
- Demonstration of developing a 2D occupancy map based on OpenSLAM's Gmapping algorithm using a simulated Kinect sensor mounted on the simulated quadrotor
- Using the ROS Navigation Stack and RVIZ to set a desired goal pose, plan a trajectory, and send the desired trajectory to the quadrotor for execution. 
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Really nice work! Thank you for sharing!
how can this made to work on ROS noetic?
Hey Wil, how did you give the predefined waypoints during 2d mapping??? Did u move it manually or did mapping using joystick??
Hi Wil, it is really a nice simulation. Thank you! I have a few questions here.Could I know the order of running your 2d navigation code? Do you have any document regarding the setup besides your web pages? Besides, there is some errors with the robotmodel component in rviz when launching the examples. It says that no transform can be found between others (eg. base_link, camera__link) and the map. May I know where are these links established? Thank you very much!
Hey Keyu,
All the code and documentation is on the website here:
www.wilselby.com/research/ros-integration/2d-mapping-navigation/
You should only need to run the launch file to get everything running. One launch file is for setting up an environment to create the map (quad_slam_laser_map.launch), the other launch file is for loading that recorded map and navigating using it (quad_2dnav.launch).
Those should take care of launching all the required nodes in the proper order to include Gazebo and RVIZ.
Regards,
Wil
+Wil Selby Thank you very much!
does the above documentation work with ROS-kinetic? or should i use with indigo????
Hi, the link display a blank page