Thursday, August 25, 2016

RPLiDAR + ROS + Hectorslam Setup

So, I have been lately working on a very interesting but difficult project with team UAV Nirma , 'UAV navigation in Indoors' and the timeline is till August 2017. 

The first thing you might be asking is why such a costly and complicated setup?
The thing is, it is not as complicated as you think. The specific algorithm through which we want to devise is the SLAM algorithm.

What SLAM does is that it maps the environment, extracts the landmarks and gets to know where it is using these landmarks. There is a very good documentation available here.

Since the quad has to know where it is with respect to the landmark, we have to use a lidar and to use the lidar - ROS.

The lidar we're using is the RPLIDAR from RoboPeak. 

For the ones who are looking onto how to interface the RPlidar with ROS, here's a very good tutorial.

Here's a video of the hectorslamming:

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