2d SLAM with ROS and Kinect

Introduction So far we really did not tap much into the power of ROS. Teleoperation and dead reckoning was just a way to ‘warm up’ and get familiar with the basics of ROS. This is about to change as we are getting ready to leverage ROS’s implementation of SLAM (Simultaneous Localization and Mapping). The associated ROS … Continue reading “2d SLAM with ROS and Kinect”

Ardros – Transform Between base_link and the Kinect Sensor

For SLAM and navigation to work correctly on a ROS based robot it is necessary to accurately specify the transformation between the coordinate system (frame) of the steering center of the robot (the frame is typically called base_link) and the coordinate system of the laser scans. In the case of Kinect based robots the laser … Continue reading “Ardros – Transform Between base_link and the Kinect Sensor”

Presentation for the Riverside Robotic Society: Kinect + ROS

At the beginning of this month I gave a presentation at the monthly club meeting of the Riverside Robotic Society. Thomas Messerschmidt, the president of the club, had invited me as a guest speaker to talk about how I use the Kinect sensor in conjunction with ROS to perform SLAM and navigation on my robot. … Continue reading “Presentation for the Riverside Robotic Society: Kinect + ROS”

Using the ROS Navigation Stack

In this post I cover how we can leverage the ROS navigation stack to let the robot autonomously drive from a given location in a map to a defined goal. I will skim over many of the details since the associated tutorials on the ROS wiki do a great job in describing how to set … Continue reading “Using the ROS Navigation Stack”