제3회 오픈 로보틱스 세미나 (제9세션) : ROS를 활용한 SLAM과 내비게이션
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- 1. ROS SLAM The 3rd Open Robotics Seminar WWW.OROCA.ORG Section
9. 2015/05/24
- 2. ROSRobot Operating System
- 3. ROSRobot Operating System
- 4. ? ;;
- 5. ? OTL... ! ;;
- 6. ~ ! ?
- 7. by Wikimol, CC BY-SA 3.0 1. . 2. . 3. (). - -
- 8. Ciaran Griffin, http://www.gettyimages.com 1. . 2. . 3. ().
- -
- 9. ?
- 10. http://www.pinterest.com/jerodor/cagaduisimo/
- 11. Big Dipper, by Magnus Manske, Public Domain pixabay.com,
CC0
- 12. !
- 13. ( .)
- 14. A B ! !
- 15. A B ! ! : / : , : :
- 16. StarGazer Vicon MXEstimote (Beacon)
- 17. Kobuki
- 18. pixabay.com, CC0 ! OK! , , , ? , ? SLAM (Simultaneous
Localization And Mapping) ? ! ?
- 19. https://students.cs.byu.edu/~cs470ta,
http://vimeo.com/3423169
- 20. pixabay.com, CC0, www.willowgarage.com CC BY 3.0
- 21. pixabay.com, CC0, www.willowgarage.com CC BY 3.0 + ++ SLAM
Navigation
- 22. ROSRobot Operating System
- 23. https://www.openslam.org/gmapping.html
- 24. $ sudo apt-get install ros-indigo-kobuki*
ros-indigo-gmapping ros-indigo-navigation $ sudo apt-get install
ros-indigo-urg-node $ cd ~/catkin_ws/src $ git clone
https://github.com/oroca/oroca-ros-pkg.git $ cd ~/catkin_ws
&& catkin_make
- 25. $ roscore $ roslaunch kobuki_node minimal.launch $ sudo
chmod a+rw /dev/ttyACM0 $ roslaunch kobuki_slam kobuki_slam.launch
$ rosrun rviz rviz -d `rospack find
kobuki_slam`/rviz/kobuki_slam.rviz $ roslaunch kobuki_keyop
safe_keyop.launch $ rosrun map_server map_saver
- 26. 2 (OGM, Occupancy Grid Map) = (free area) = (occupied area)
= (unknown area)
- 27. https://mirror.enha.kr/
- 28. SLAM, Navigation ? SLAM, Navigation . .
- 29. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM,
Navigation . .
- 30. http://en.wikipedia.org/wiki/Kalman_filter, CC0
- 31. S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics.
MIT Press, Cambridge, MA, 2005.
- 32. Dynamic Window D. Fox, W. Burgard and S. Thrun, The dynamic
window approach to collision avoidance, IEEE Robotics &
Automation Magazine
- 33. Goal
- 34. Goal
- 35. Goal
- 36. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM,
Navigation . .
- 37. Thank you for your attention. Yoonseok Pyo
passionvirus@gmail.com www.robotpilot.net WWW.OROCA.ORG