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cyclical_obsessive

SLAM - First Attempt

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

My create3_navigation slam.launch.py (using 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 put them.

rviz2 application showing the path of the Create3 robot (Wali) and sensed walls, with a tiny, far-from-reality map produced by the SLAM toolbox package.
Create3 robot, named Wali, scanning a wall with infrared return intensity sensors
cyclical_obsessive

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 becomes very evident with the floorplan map.

Next up - with and

rviz2 display of walls and occupancy grid open areas detected with IR intensity sensors
rviz2 display of house floor plan with dead reckoning path of robot.
ROS 2 slam_toolbox map of main areas of home built from IR intensity sensors with dead reckoning odometry - no localization possible with the limitations of the IR intensity sensors. Shows odometry off by 0.4 meters in X and Y at end of 25 minute, 60 meter trip around the area.
Jan 03, 2024, 04:15 PM·Public
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