#SLAM_Toolbox 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 #odometry becomes very evident with the floorplan map.
Next up - #DeadReckoning #navigation with #ros2humble #nav2 and #map_server
#Create3 #IRsensor SLAM - First Attempt
My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.
My create3_navigation slam.launch.py (using #Turtlebot4 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 #odometry put them.
#ROS - #Docker - #RaspberryPi5 !!!
#slam_toolbox async mapping:
- Pi4 15% CPU (2% of RPi4)
- Pi5 5% CPU (1% of RPi5)
Much prefer configuring and running ROS 2 native on #Ubuntu22_04Lts on Pi4 than configuring Docker on Pi5.
rViz2 in Ubuntu 22.04 in VM on Mac OS showing map and path.
slam-toolbox async in Docker on PiOS 64-bit Bookworm on Pi5 (2 ssh sessions)
#GoPiGo3 #robot on Ubuntu 22.04 on Pi4 (4 ssh sessions)
All talking to each other - pretty impressed with #ros2humble
After 2 years my #ROS_2 #GoPiGo3 #robot finally knows how to navigate - I'm amazed by #slam_toolbox and #nav2
Here's Humble Dave doing #mapping, #localization, and now #navigation
Loving #ROS2 #Humble on my #GoPiGo3 #RaspberryPi4 #robot
3 hours 47 minutes "life" with on-board #slam_toolbox synchronous #mapping running, and a little driving around the room:
cyclical_obsessive