#slam_toolbox — Public Fediverse posts

#SLAM_Toolbox Mapping w/o Localization

Got slam_toolbox mapping with localization turned off, but managed to figure out how to serve up a better looking map from my house floor plan.

The weakness of dead reckoning #odometry becomes very evident with the floorplan map.

Next up - #DeadReckoning #navigation with #ros2humble #nav2 and #map_server

#Create3 #IRsensor SLAM - First Attempt

My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.

My create3_navigation slam.launch.py (using #Turtlebot4 LIDAR parms modified for Create3 IR "distance" sensor scan), with Wali facing a wall, maps a wall!

(bouncing around in angle in front of bot...)

As I proceed to drive Wali around the room, more walls enclosing a "known to be open" space are mapped, but not where the sensors and #odometry put them.

#ROS - #Docker - #RaspberryPi5 !!!

#slam_toolbox async mapping:
- Pi4 15% CPU (2% of RPi4)
- Pi5 5% CPU (1% of RPi5)

Much prefer configuring and running ROS 2 native on #Ubuntu22_04Lts on Pi4 than configuring Docker on Pi5.

rViz2 in Ubuntu 22.04 in VM on Mac OS showing map and path.

slam-toolbox async in Docker on PiOS 64-bit Bookworm on Pi5 (2 ssh sessions)

#GoPiGo3 #robot on Ubuntu 22.04 on Pi4 (4 ssh sessions)

All talking to each other - pretty impressed with #ros2humble

After 2 years my #ROS_2 #GoPiGo3 #robot finally knows how to navigate - I'm amazed by #slam_toolbox and #nav2

Here's Humble Dave doing #mapping, #localization, and now #navigation

https://youtu.be/WYWc8XweKGE

Now we're making progress. #GoPiGo3 #ROS_2 #robot Humble Dave managed 10 minutes of wandering the kitchen before needing assistance and did not suffer any instantaneous deaths. I'm very impressed with #slam_toolbox mapping and localization.

Loving #ROS2 #Humble on my #GoPiGo3 #RaspberryPi4 #robot

3 hours 47 minutes "life" with on-board #slam_toolbox synchronous #mapping running, and a little driving around the room: