Request for LIDAR SLAM tutorial
shamlian opened this issue · comments
Discussed in iRobotEducation/create3_docs#54
Originally posted by Yskandar May 12, 2022
Hey everyone,
I am with a robotics lab at UCLA and we are interested in this product, we're looking for a robot on which we could perform ros-based slam without struggling to much in installations and such.
To be more specific, here is what I want to do:
- I want to mount the RPLiDAR A1 (or A2) on top of the create 3, and I want to be able to access on my computer both the topics published/subscribed by both the create 3 and the RPLiDAR. Then, I want to use the slam_toolbox (or any other package) on my computer, using the scans from the LiDAR and other informations from the create3 topics.
After reading the docs and the issues in the discussion, the following questions remain:
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Do I need a Raspberry Pi? I would gess so since I would like to access both the create3 and rplidar topics by wifi, since usb cables are a pain for mobile robots.
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Is there a ROS 2 package for the create 3 that I would need to launch from my computer to access the topics of the create3 ? Or is it enough to follow the docs, meaning connect to the create 3 wifi, update the firmware and then the topics of the create3 will magically appear in my ROS2 server on my computer ?
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The RPLiDAR's packages are in ROS1 if I am not mistaken, is this gonna be a problem? I've seen that "shamlian" used the A1 with create 3 so I'm guessing there won't be a problem.
Sorry for this long post, thank you in advance for your help !!
Yskandar
@Yskandar not sure if you can see this, but I'll be updating progress here. I've written a barebones tutorial and it can be found in this repo in the create3_lidar branch.
Hey Steven,
Thank you for that, I can see the branch indeed. I'll keep an eye on that, thank you for your work!
Enjoy your week-end !
Yskandar