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Thread: Neato + ROS!

  1. #1
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    Neato + ROS!

    Ok, I've now checked the initial ROS driver for the Neato into our repository at SUNY Albany. This currently gives you control of the motors (through a cmd_vel Twist message) and access to the laser. I've also created a package with config files for the navigation stack (although additional work is going to be needed to get it fully stable).

    EDIT: Helps if I include where our repository is! http://albany-ros-pkg.googlecode.com -- it's in trunk/neato_robot stack.

    What we have is:

    • neato_driver - package with a generic python based driver
    • neato_node - package with a node wrapper around the generic driver -- subscribes to cmd_vel, publishes laser and odometry information
    • neato_urdf - place holder for a URDF model (still in progress).

    The original video showing this roll around is here:

    And here's a new short video showing navigation at work:


    More complete documentation should be on the ROS wiki later this evening.

    -Fergs

  2. #2

    Re: Neato + ROS!

    Real cool. Nice work

  3. #3
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    Re: Neato + ROS!

    I've posted some getting started info on the front page of our wiki: http://code.google.com/p/albany-ros-pkg/

    Also, I've attached the map here that I used:


    This was generated using gmapping, with quicker updates and some more constrained odometry parameters than usual:

    Code:
    rosrun gmapping slam_gmapping scan:=base_scan _srr:=0.001 _srt:=0.001 _str:=0.000001 _stt:=0.000001 _linearUpdate:=0.5 _angularUpdate=0.4
    Eventually, I'd like to figure out what parameters tune the beam likelihood correctly, but I haven't found them yet....

    -Fergs

  4. #4
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    Re: Neato + ROS!

    And my official announcement to the ROS user-list (just in case I mentioned something there I forgot to here): http://www.ros.org/news/2010/12/neat...y-ros-pkg.html

    -Fergs

  5. Re: Neato + ROS!

    Great work!
    Looks like it could put this to an end
    Last edited by Xevel; 12-14-2010 at 02:28 PM.
    ---
    Personal blog: http://xevel.org
    USB2AX documentation: http://xevelabs.com

  6. #6
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    Re: Neato + ROS!

    Dang, did Fergs just exceed the speed of light? Really nice job!!

    --patrick
    The Pi Robot Project
    http://www.pirobot.org

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    Re: Neato + ROS!

    While Fergs is not an ordinary guy by any means,
    I think most of the speed comes from the fact that
    a lot of ROS stuff got reused on a different robot.
    Instead of SSDD we have SRDR - Same ROS, Different Robot.

    What do you say, Fergs?

  8. #8
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    Re: Neato + ROS!

    Documentation is now mostly up to date on the ROS wiki: http://www.ros.org/wiki/neato_robot

    -Fergs

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    Re: Neato + ROS!

    I don't know how you do it. This is a really amazing accomplishment in such a short time.

    I think this is a strong argument for learning ROS. Point and click navigation in an unstructured environment is a holy grail, and here it is for $399.

    A million rep points to Fergs!

    - Nammo

  10. #10
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    Re: Neato + ROS!

    I've been playing with integrating CoreSLAM into ROS this afternoon. I've been intrigued by this approach because it uses quite a different form of likelihood for localization, which might prove to work a lot better for lower cost/range lasers. I've still got some work for localization and map saving, but here's an early render:



    More details are on in this blog post.

    -Fergs
    Last edited by lnxfergy; 12-23-2010 at 01:44 AM.

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