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MiniSLAM
Setup, Operation, and Configuration
Short Description
The MiniSLAM robot is an development platform designed to demonstrate the
capabilities of SLAM algorithms paired with autonomous waypoint navigation.
Images shown may not be an exact representation of the robot's features listed in this document
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Summary of Contents for SuperDroid Robots MiniSLAM
- Page 1 Setup, Operation, and Configuration Short Description The MiniSLAM robot is an development platform designed to demonstrate the capabilities of SLAM algorithms paired with autonomous waypoint navigation. Images shown may not be an exact representation of the robot’s features listed in this document...
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Page 2: Table Of Contents
Configuration Options ..............................10 ..............................11 ARAMETERS C++ P ..........................11 REATING DITING ACKAGES General Terms................................13 SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com www.SuperDroidRobots.com Revised: August 3, 2018 Page 2 of 13... -
Page 3: Setup
/> 6. Turn the robot on and connect to the on-board router (SSID: MiniSLAM). Confirm that your network interface (usually wlan0) has been assigned an IP address. Operation Control and operation of this robot is performed through ROS Visualization (RViz) and the provided USB gamepad. -
Page 4: Launching
Launching Follow these steps to begin operation: 1. Power on the robot and connect to the on-board router (SSID: MiniSLAM). Once the LIDAR starts spinning, the robot boot process has finished. This usually takes around 30 seconds. 2. Launch the ROS joystick driver and RViz using launch_ui.sh located in the MiniSLAM_UI directory. If the... - Page 5 Once in autonomous navigation mode, RViz is used to send waypoint goals. To send waypoint goals: 1. Select 2D Nav Goal. 2. Draw a waypoint by clicking and dragging a pose arrow on the map that consists of both position and orientation. SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com...
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Page 6: Visualization
Raw LIDAR output from the YDLIDAR G4 LIDAR driver node o Published by ydlidar_node • o 2D map generated by the SLAM node using raw laser scan data and positioning SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com... - Page 7 Map of inflated static obstacles used for global path planning o Published by move_base • Local Costmap o Map of inflated static and dynamic obstacles used for local path planning SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com...
- Page 8 MiniSLAM o Published by move_base • Global Path o Calculated path to the goal using global costmap data o Published by move_base SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com www.SuperDroidRobots.com Revised: August 3, 2018...
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Page 9: Additional Feedback
To do so, open a terminal, source the network configuration using the correct network device, and execute the echo command: source /path/to/MiniSLAM_UI/init_network.sh <network interface> rostopic echo <topic name> SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com www.SuperDroidRobots.com... -
Page 10: Configuration Options
Before making any changes, it is highly recommended to create a new git branch inside the mini_slam_bot directory. To ssh into the BeagleBone Black, connect to the router, open a terminal, and execute: ssh -Y ubuntu@192.168.10.160 SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com... -
Page 11: Node Parameters
1. Create a new ROS catkin package in the existing catkin workspace: cd /home/ubuntu/mini_slam_bot/catkin_ws/src/ catkin_create_pkg <package_name> [depend1] [depend2] … 2. Add source code to the /home/ubuntu/mini_slam_bot/catkin_ws/src/<package_name>/src/ directory. SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com... - Page 12 • If a package requires interfacing with the BeagleBone IO, you may need to change the pin multiplexers and compile the device tree overlay. The device overlay source is in /home/ubuntu/overlays. SuperDroid Robots, Inc Contact 224 Technology Park Lane (919) 557-9162 Fuquay Varina, NC 27526 SDR@SDRobots.com...
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Page 13: General Terms
2. SuperDroid Robots, Inc. makes no representations as to the fitness of its products for specific uses. ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE IS HEREBY EXCLUDED.
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