nnarain / create_navigation Goto Github PK

Hello Natesh

Thank you very much for this project for create2 !
I am using a depth camera and , as you stated in your blog, using only the bumper the roomba push through the obstacle when hit, instead of going backward and replan.Maybe you could creare from the single point a dense pointcloud in this way the "move backward" could be triggered in the planner.
Thanks a lot
germal

Add cliff sensors to the pointcloud

In cases where the global plan is an S turn

Update for ROS Noetic

I've been following this blog post to try and re-create it using an iRobot
https://nnarain.github.io/2021/01/06/iRobot-Create-2-Navigation.html

I am not able to recreate the part where you give two points on a grid and create a point cloud utilizing the bump sensors in simulation.
In the simulation blog post at the very end we ran the roslaunch create_gazebo maze.launch command and opened up the Gazebo how you had it in the blog post, but in the navigation blog post when we run the final command in the Navigation blog post: roslaunch create_gazebo maze.launch nav_mode:=map when the Roomba moves in the GIF on the blog post, it creates a point cloud, but for us we can get it to move in RVIZ but not create the point cloud when it is near a wall, and it is not updating the map based on the borders.

We have this error:
[ERROR] Error computing light sensor poisitions: "right_front_light_sensor_link" passed to lookupTransform argument source_frame does not exist. and it says this for all 6 light sensors.

In your Navigation blog post where you give it a navigation point on the grid and it creates a map using the bump sensors, we are not able to re-create it. When we try roslaunch create_gazebo maze.launch nav_mode:=mapping in RVIZ when we give a navigation point, it tries to get there but it gets blocked by a wall and does not build or map the wall, unlike your GIF where you had a point cloud map the maze.

Mapping with just the available sensors (bump, cliff, light)

galactic

Detect docking beams