-
ROS SLAM
The 2nd Open Robotics Seminar
WWW.OROCA.ORG
Section 10.2014/12/21
-
ROSRobot Operating System
-
ROSRobot Operating System
-
?;;
-
? OTL... !
;;
-
~ ! ?
-
by Wikimol, CC BY-SA 3.0
1. .
2. .3.
().- -
-
Ciaran Griffin, http://www.gettyimages.com
1. .
2. .3.
().- -
PresenterPresentation Notes 2 . (,,, ) / .
-
?
-
http://www.pinterest.com/jerodor/cagaduisimo/
-
Big Dipper, by Magnus Manske, Public Domain
pixabay.com, CC0
-
!
-
( .)
-
A B!
!
-
A B!
!
: / : , : :
-
StarGazer Vicon MXEstimote (Beacon)
-
Kobuki
-
PresenterPresentation Notes Runge-Kutta
-
pixabay.com, CC0
!
OK! , , , ? , ?
SLAM(Simultaneous Localization And Mapping)
? !
?
-
https://students.cs.byu.edu/~cs470ta,
http://vimeo.com/3423169
-
pixabay.com, CC0, www.willowgarage.com CC BY 3.0
-
pixabay.com, CC0, www.willowgarage.com CC BY 3.0
+ ++ SLAM Navigation
-
ROSRobot Operating System
-
https://www.openslam.org/gmapping.html
-
$ 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
-
$ 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
-
2 (OGM, Occupancy Grid Map) = (free area) = (occupied area) =
(unknown area)
-
https://mirror.enha.kr/
-
SLAM, Navigation ? SLAM, Navigation . .
-
SLAM, Navigation ? . , , . .
SLAM, Navigation ? SLAM, Navigation . .
-
http://en.wikipedia.org/wiki/Kalman_filter, CC0
PresenterPresentation Notes (Prediction). (update)
-
S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. MIT
Press, Cambridge, MA, 2005.
-
Dynamic Window
D. Fox, W. Burgard and S. Thrun, The dynamic window approach to
collision avoidance, IEEE Robotics & Automation Magazine
-
Goal
-
Goal
-
Goal
-
SLAM, Navigation ? . , , . .
SLAM, Navigation ? SLAM, Navigation . .
-
Thank you for your attention.
Yoonseok [email protected]
www.robotpilot.net
WWW.OROCA.ORG
ROS SLAM 01. SLAM 01. SLAM Slide Number 4Slide Number 5Slide
Number 6Slide Number 7Slide Number 8Slide Number 9Slide Number
10Slide Number 11Slide Number 12Slide Number 13Slide Number 14Slide
Number 15Slide Number 16Slide Number 17Slide Number 18Slide Number
19Slide Number 20Slide Number 21Slide Number 22Slide Number 23Slide
Number 24Slide Number 2501. SLAM Slide Number 27Slide Number
28Slide Number 29Slide Number 30Slide Number 31Slide Number 32Slide
Number 33Slide Number 34Slide Number 35Slide Number 36Slide Number
37Slide Number 38Slide Number 39Slide Number 40Slide Number 41Slide
Number 42Slide Number 43Thank you for your attention.
