hello sir ,
for my final year project ive been told to implement 3d SLAM on a mobile robot but i dont have the privelage to bots lie turtlebot ( so itll be something like a stepper motor with encoders )
i know very little about programming ( im a BE student aeronautical engineering )
so sir where should i start from ? i have sent you an email as well i wondered if ull receive it so i started a thread instead . ill be asking some stupid questions as im a complete newbie but i know at the end of year ull be proud too :D
ive already implemented RTABMAP using only kinect and have mapped my room .. i want to go inside the code .. like which language it is in ? and how to edit the code ?
since it is a FYP in B.Engineering , i need to go through the theory part as well ...
also i want to ask how hard will it be to implement it on a robot with my stepper motors and encoders ( and not on turtlebot etc ) .. do i need to learn programming alot for it ? what all changes will i have to make
The programming language is C++. You may not have to play with the rtabmap code directly, as you can use the nodes directly. There are many demos on this page: http://wiki.ros.org/rtabmap_ros. Install the package binaries afterinstalling ROS:
i want to know how to change the frequency of the RPLIDAR .. im using both kinect and LIDAR for RTAB-map and i cant figure out where in the code is the configuration located so that i can change it from 5.5Hz to lets say 10 Hz which is the max it can support) . Any help would be highly appreciated
That parameter should be on the node publishing the laser scans. Well, on the RPLIDAR page, it is written:
The RPLIDAR core engine performs high speed distance measurement with more than 2000 samples per second. For a scan requires 360 samples per rotation, the 5.5hz scanning frequency can be achieved. Users can customized the scanning frequency from 2hz to 10hz freely by control the speed of the scanning motor. RPLIDAR will self-adapt the current scanning speed.
Since USB adapter’s control signal MOTOCTL is fixed to high level, RPLIDAR’s scan motor is
always rotating at its highest speed which makes RPLIDAR working on a relative high scan
frequency. You can configure RPLIDAR’s scan frequency by controlling motor speed.
By connecting MOTOCTL signal to the device has PWM output function such as MCU’s
PWM output I/O port, RPLIDAR’s scan frequency can be locked in a proper value by adjust
duty ratio of PWM using the scan frequency feedback provided by RPLIDAR core.
If you need more help for this sensor, ask your questions to RPLIDAR support.