SLAM with XV 11 using ROS
From wikidb
Correction
TBD: This isn't SLAM yet so fix
Execution
Separate terminals
roscore
roslaunch floor_hugger survey.launch
roslaunch floor_hugger gmapping.launch
roslaunch floor_hugger rviz_mapping.launch
Generalized the above into the following actions. In separate terminals do the following. Choose a teleop approach. For example web_teleop.launch below or js_teleop.launch.
roscore
roslaunch floor_hugger web_teleop.launch
roslaunch floor_hugger active_mapping.launch
Launch Scripts
In three terminals
- survey.launch - Floor Hugger Launch Scripts
- gmapping.launch - Gmapping_with_XV_11_using_ROS#Create_Map
- rviz_mapping.launch
- active_mapping.launch
Maps
Power and Load
22.2 volts bench-top supply with the robot on a debug stand (wheels are not in floor contact). These are rudimentary measurements that fluctuate significantly.
| Activity | Load (uptime) | Current (amps) |
|---|---|---|
| Steady state in desktop | 0.03 | 0.54 |
| add survey | 1.8 | 0.64 |
| add slam | 1.8 | 0.64 |
| add rviz | 1.8 | 0.72 |
| add web stream loaclly | 2.0 to 2.8 | 0.76 |
| add websocket motor | 2.0 to 2.8 | 1.00 to 1.40 plus |
20 to 30 watts is a rough estimate.
