A considerably difficult aspect of Simultaneous Localization and Mapping (SLAM) is the problem of uncertainty constrained long term point-to-point navigation where global loop closures to eliminate estimation biases may not be possible. In such scenarios, a prime concern is to control the rate of localization error growth. We have developed fundamental results on the underlying […]

Following up from my previous post, I wanted to simulate an IRobot Create with a hokuyo laser mounted on it. I needed this to get my motion planning simulation up and running. 1. Follow the tutorial to get your create up and running in ROS/Gazebo. 2. If you downloaded the gazebo model repository from bitbucket, […]

For my research I needed to setup ROS to use ArUco so that I could track these ArUco markers placed randomly in the environment and localize my robot. Assuming that you have your catkin workspace setup, here are the steps: 1.  $cd ~/catkin_ws/src/ 2. $git clone https://github.com/pal-robotics/aruco_ros.git 3. $cd .. 4. $catkin_make install 5. $sudo apt-get […]

This is an update to my previous post on setting up an iRobot Create/Roomba in Gazebo/ROS for the new ROS distro Indigo. Steps : 1. Follow the ROS instruction guidelines for Indigo installation [follow ros.org] 2. Setup your catkin workspace (again instructions in ROS wiki) 3. ROS Indigo should automatically install Gazebo 2.x 4. Start […]