Jun 132011

Two days ago I gave a presentation on 2d navigation focusing on the ROS navigation stack at the Robotics Society of Southern California (rssc.org). The slide deck can be downloaded from here.

  3 Responses to “Presentation on 2d Navigation”

  1. I’m impressed with what you’ve been able to accomplish with an Arduino. A few posts back, you mentioned that you plan to upgrade your controller. Have you made any decisions or progress on that yet? Also, since ros_serial seems to be in the process of becoming the go to package for serial communications with micro controllers, (especially Arduino) do you plan to continue with your home rolled solution?

  2. Hi David,

    I upgraded to the Maple Leaf controller (http://leaflabs.com/devices/maple/). The port of the Arduino code is complete and was rather painless since the development environment and much of the support libraries are the same. However, the Maple Leaf software currently has a bug in the serial stack (a workaround is described in http://forums.leaflabs.com/topic.php?id=894). I haven’t had a chance to work on it for a few months now but hope to get back to it relatively soon.

    I expect to stick with my protocol implementation not because I don’t like the new ROS library but simply because I have a solution that works for me. For new projects I would probably use ros_serial.

    BTW very recently a 32-bit ARM based Arduino was announced (http://www.wired.com/gadgetlab/2011/09/arduino-arm-products/). It is very similar to the Maple Leaf controller.


  3. Hi. It is good to see your post. It is really useful to follow.
    By the way, I’m thinking to implement SLAM on my quadcopter system.
    Maybe you know, quadrotor does not have any odometry information. So I have no idea how to utilize amcl for now.
    Do you have any suggestion about this?

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