SuperDroid Robots MiniSLAM Setup, Operation, And Configuration Download | Manualshive

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MiniSLAM

Setup, Operation, and Configuration

Short Description

The MiniSLAM robot is an development platform designed to demonstrate the
capabilities of SLAM algorithms paired with autonomous waypoint navigation.

Images shown may not be an exact representation

of the robot’s

features listed in this document

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Summary of Contents for MiniSLAM

Page 1: ...cription The MiniSLAM robot is an development platform designed to demonstrate the capabilities of SLAM algorithms paired with autonomous waypoint navigation Images shown may not be an exact representation of the robot s features listed in this document ...

Page 2: ...6 SDR SDRobots com www SuperDroidRobots com Revised August 3 2018 Page 2 of 13 Contents Setup 3 SYSTEM REQUIREMENTS 3 FIRST TIME SETUP 3 Operation 3 LAUNCHING 4 CONTROL 4 VISUALIZATION 6 ADDITIONAL FEEDBACK 9 Configuration Options 10 NODE PARAMETERS 11 CREATING EDITING C PACKAGES 11 General Terms 13 ...

Page 3: ...ps below to setup your computer 1 Make sure your computer has internet connection 2 Follow this tutorial to install ROS Kinetic on your Ubuntu machine 3 Install the joy ROS node to read values from your USB Gamepad 4 Download the MiniSLAM_UI zip file and extract it on your Ubuntu machine 5 Connect the USB gamepad to your computer and confirm the Linux device name is js0 NOTE Go to step 6 if the de...

Page 4: ...is anything other than wlan0 it will need to be passed as an argument NOTE The source command always needs to be used so ROS environment variables are set properly 3 Confirm that RViz is able to find the mini_slam rviz configuration file located in the MiniSLAM_UI directory If the display options shown below are available everything has launched correctly If the above display options aren t visibl...

Page 5: ...put gamepads should be compatible if a Linux device name can be assigned Once in autonomous navigation mode RViz is used to send waypoint goals To send waypoint goals 1 Select 2D Nav Goal 2 Draw a waypoint by clicking and dragging a pose arrow on the map that consists of both position and orientation Gamepad Controls BACK Enable Manual Mode START Enable Autonomous Navigation Mode Turn Drive ...

Page 6: ...ored areas of the map However due to the computational limitations of the BeagleBone Black the map size is limited to 24x24 meters The robot will only be able to navigate around obstacles the LIDAR can see Any obstacles below the 2D laser scan plane are potential collision points The 2D SLAM positioning assumes a flat indoor operating area Sunlight and inclines declines will result in position dri...

Page 7: ...SDR SDRobots com www SuperDroidRobots com Revised August 3 2018 Page 7 of 13 o Published by hector_mapping Global Costmap o Map of inflated static obstacles used for global path planning o Published by move_base Local Costmap o Map of inflated static and dynamic obstacles used for local path planning ...

Page 8: ...hnology Park Lane 919 557 9162 Fuquay Varina NC 27526 SDR SDRobots com www SuperDroidRobots com Revised August 3 2018 Page 8 of 13 o Published by move_base Global Path o Calculated path to the goal using global costmap data o Published by move_base ...

Page 9: ...e edge of the rolling window using local costmap data o Published by move_base Additional Feedback Output from every ROS topic is accessible through the command line without having to ssh into the BeagleBone To do so open a terminal source the network configuration using the correct network device and execute the echo command source path to MiniSLAM_UI init_network sh network interface rostopic ec...

Page 10: ...dings are consistently in the 22 Volt range power off the robot and charge the batteries roboteq_driver encoders o Raw encoder values Converted to position and velocity for the roboteq_driver wheelOdom topic For a full list of the available topics execute the following command during runtime Configuration Options This platform has multiple configuration options in the form of ROS parameters adding...

Page 11: ...g hect or_mapping move_base mini_slam_bot launch navigation m ove_base launch mini_slam_bot launch navigation pa rams costmap_common_params yaml mini_slam_bot launch navigation pa rams global_costmap_params yaml mini_slam_bot launch navigation pa rams local_costmap_params yaml mini_slam_bot launch navigation pa rams teb_local_planner_params yaml http wiki ros org mov e_base http wiki ros org teb_l...

Page 12: ...will be located one level below the package directory DO NOT edit the CMakeLists txt located in the catkin_ws src directory 4 To compile a package and install A couple of notes You only need to complete step 4 when editing a package If a package requires interfacing with the BeagleBone IO you may need to change the pin multiplexers and compile the device tree overlay The device overlay source is i...

Page 13: ... PARTS SuperDroid Robots Inc is further not responsible for any personal damages including but not limited to bodily and health damages resulting from any use of our products 2 SuperDroid Robots Inc makes no representations as to the fitness of its products for specific uses ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE IS HEREBY EXCLUDED 3 Agreements shall be constru...

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