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Thread: ROS Hexapod project Golem: MX-64 4dof

  1. #81
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    Re: ROS Hexapod project Golem: MX-64 4dof

    Starting to build the body section for Rviz tonight.

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  2. Re: Golem: MX-64 4dof Hexapod project.

    Quote Originally Posted by KevinO View Post
    As I've said before I use google translate to convert my message to audio on the fly.
    Kevin, very cool! How to use google translate to make a robot talks?

  3. #83
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    Re: ROS Hexapod project Golem: MX-64 4dof

    So getting closer to finishing the Rviz part of the project. Still more details to add but it is up and running. Base link is fixed so it could be easier to record.

    Last edited by KevinO; 03-02-2015 at 02:05 AM.

  4. #84

    Re: ROS Hexapod project Golem: MX-64 4dof

    Looks almost as cool in simulation as it does in real life :-)

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    Re: ROS Hexapod project Golem: MX-64 4dof

    Writing some documentation on Golem and I'd thought I'd show a screen shot of rviz with the point cloud data with the color overlay and a sub sample of the data being registered as a laser scan at robot height. The fake laser scan allows me to use the ROS slam packages easily.

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    Last edited by KevinO; 04-16-2015 at 02:26 AM.

  6. #86
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    Re: ROS Hexapod project Golem: MX-64 4dof

    Cool! Looks very interesting and fun and way over my head..
    Kåre Halvorsen aka Zenta
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  7. #87
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    Re: ROS Hexapod project Golem: MX-64 4dof

    Odometry plot in rviz.

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  8. Re: ROS Hexapod project Golem: MX-64 4dof

    That's sweet!

    Is it pure odometry on this example? Can you easily add IMU data to account for imperfections?
    ---
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  9. #89
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    Re: ROS Hexapod project Golem: MX-64 4dof

    This is the pure mathematical odometry. This topic and the imu topic are combined for the final odometry used by the mapping and navigation stack. I also have a third which is the visual odometry from the depth sensor. All three are then passed into a Kalman filter.

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    Re: ROS Hexapod project Golem: MX-64 4dof

    2D room mapping via slam.
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