Using 2D Lidar SLAM and Build Path to the controller

asked 2016-01-05 03:23:22 -0600

Terry Su
21 ●14 ●17 ●22

updated 2016-01-05 03:25:32 -0600

Hello ROS users,

I have a 2D Lidar laser scanner(Sick TiM-561) works on the ubuntu 14.04LTS with ROS jade PC, and I have a computer which is embedded program controller for the vehicle. Now I want to use Lidar to scan the environment and use ROS PC to build the map and then build a path to feed the embedded program controller to control the steering wheel for following the path.

So here I need to mapping and a path signal for the controller, and then the controller just follow the path to the goal place.

My case is when Lidar scans a parallel parking space and ROS PC build a map, then if I want to pull my car into that parking space, the ROS will build a path for the controller to track it.

I saw this link but this is for the specified robot of ROS, but the robot which I want to contnot a ROS robot. Could someone can give me some directions? Thanks in advanced.

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answered 2016-01-05 12:21:10 -0600

duck-development

1999 ●4 ●160 ●25

The Tim has an Ethernet Interface so you can communicate direct with the Sensor from the ROS PC.

So Ros Can Generatate the Map.

The you need a Kinematic description of you vehicle (Differentialdrive, Akermann, Mecanum, Omi...):

Asume you have an : And now Is you Turn to Code: For the Embedded PC you write a simple Programm which sends the Encoder values and receives wheel velocities comands.

On the Ros PC you program the counterpart ROS-Node (Read Encode Write Position) and with the Kinematic description you can Publish "Odom MSGs" and Subscribe the "cmd_val" Topic and send the content to your Embedded PC

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Using 2D Lidar SLAM and Build Path to the controller

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