Jarvis-X / qb-SLAM

qb-SLAM

This repository serves as the SLAM module of the quadrotor-blimp project. We are using the LiDAR sensor product LD06 of ldrobot that operates at 10Hz for 360-degree scans.

Update: 10/13/2022

• SLAM method: Hector-Mapping
  • input: LaserScan
• Dependency:
  • ROS-noetic
  • Hector mapping: sudo apt-get install ros-noetic-hector-mapping
• Clone and prepare the src:
  • cd $YOUR_ROS_WORKSPACE/src
  • git clone https://github.com/Jarvis-X/qb-SLAM/
  • cd ..
  • catkin_make
  • roscd hector-mapping/launch
  • We need to change something in the launch file sudo $YOUR_FAV_TEXT_EDITOR mapping_default.launch
    • Change the default argument "base_frame" into <arg name="base_frame" default="base_link"/> <!-- was "base_footprint" -->
    • Change the default argument "odom_frame" into <arg name="odom_frame" default="base_link"/> <!-- was "nav" -->
    • Go to the last line before </launch>: it is commented out. Change that into <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 base_link lidar_frame 100"/>
• To run:
  • make sure the usb port the LiDAR sensor is using has writting permission. If any problems encountered, check README_LiDAR.md
  • roslaunch qb_slam run_qbSLAM.launch

TODO:

• odometry integration with Hector-SLAM