From ros-users-bounces@code.ros.org Fri Feb 18 07:10:55 2011 Return-Path: X-Original-To: www-data@code.ros.org Delivered-To: www-data@code.ros.org Received: from pub5.willowgarage.com (localhost [127.0.0.1]) by pub5.willowgarage.com (Postfix) with ESMTP id D140B25C15B; Fri, 18 Feb 2011 07:10:54 -0800 (PST) X-Original-To: ros-users@code.ros.org Delivered-To: ros-users@code.ros.org Received: from mail-bw0-f46.google.com (mail-bw0-f46.google.com [209.85.214.46]) by pub5.willowgarage.com (Postfix) with ESMTPS id 74C1525C13D for ; Fri, 18 Feb 2011 07:10:53 -0800 (PST) Received: by bwz15 with SMTP id 15so930577bwz.5 for ; Fri, 18 Feb 2011 07:10:51 -0800 (PST) MIME-Version: 1.0 Received: by 10.204.12.84 with SMTP id w20mr781587bkw.43.1298041851079; Fri, 18 Feb 2011 07:10:51 -0800 (PST) Received: by 10.204.52.78 with HTTP; Fri, 18 Feb 2011 07:10:51 -0800 (PST) Date: Fri, 18 Feb 2011 15:10:51 +0000 Message-ID: From: =?ISO-8859-1?Q?Gon=E7alo_Cabrita?= To: User discussions Subject: [ros-users] Simple Navigation X-BeenThere: ros-users@code.ros.org X-Mailman-Version: 2.1.9 Precedence: list Reply-To: User discussions List-Id: User discussions List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Content-Type: multipart/mixed; boundary="===============2197060269316053418==" Mime-version: 1.0 Sender: ros-users-bounces@code.ros.org Errors-To: ros-users-bounces@code.ros.org --===============2197060269316053418== Content-Type: multipart/alternative; boundary=0003255591026fee70049c8febd5 --0003255591026fee70049c8febd5 Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: quoted-printable Hi everyone! Here at the lab we use mostly the Roombas. Thanks to Eitan we now successfully run our Roombas with the navigation stack using a Hokuyo laser for obstacle detection. However the Roombas come equipped with many cool sensors. I was wondering i= f it would be possible to use the Roomba as is, to run a simplified version o= f the navigation stack. My idea was to publish the IR data as a point cloud and feed the information into move_base running solely on a local dynamic map, so no map server or amcl. The performance wouldn't be great for sure, but maybe the Roomba would be able to move around without crashing. What are your thoughts on that? Is it even worth a try or is it just idioti= c ( the IR sensors have a range of about 20cm :P )? Thanks for your thoughts in advance, Gon=E7alo Cabrita ISR University of Coimbra Portugal --0003255591026fee70049c8febd5 Content-Type: text/html; charset=ISO-8859-1 Content-Transfer-Encoding: quoted-printable Hi everyone!

Here at the lab we use mostly the Roombas. = Thanks to Eitan we now=A0successfully=A0run our Roombas with the navigation= stack using a Hokuyo laser for obstacle detection.

However the Roombas come equipped with many cool sensors. I was wondering i= f it would be possible to use the Roomba as is, to run a simplified version= of the navigation stack. My idea was to publish the IR data as a point clo= ud and feed the information into move_base running solely on a local dynami= c map, so no map server or amcl. The performance wouldn't be great for = sure, but maybe the Roomba would be able to move around without crashing.

What are your thoughts on that? Is it even worth a try = or is it just idiotic ( the IR sensors have a range of about 20cm :P )?

Thanks for your thoughts in advance,

Gon=E7alo Cabrita
ISR University of Coimbra
= Portugal



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