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 …
Autonomous Flight for Parrot AR Drone
Somebody recently watched this video of my previous research and asked me: “I saw a YouTube video of a project you did, and I’m fascinated with making a drone autonomous. I …
FAQ: Belief Space Planning With OMPL
This page contains answers to some common questions about the belief space planning library based on OMPL that I have developed in my research group based on my own work …
How To: Tips and Tricks in Latex
This page is a collection of tricks I use to get my latex publishing going. How to Shrink Your Paper / Thesis: When you’re submitting papers to conferences or journals, …
Qualcomm R&D Interview Questions & Experience
I interviewed for a Fall Co-op position at Qualcomm R&D San Diego with a Principal Engineer in their Deep Learning team. The interviewer was obviously a very smart and knowledgeable …
How To: Simulate Laser Scanner (Lidar) on IRobot Create/Roomba in ROS Gazebo
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 …
How To: Tracking ArUco markers using a USB Webcam and ROS
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 …
How To: USB Web Cam with ROS Indigo
There’s no clear instructions for how to actually get your usb webcam image in ROS. Steps: 1. Install usb_cam ros package ($sudo apt-get install ros-indigo-usb-cam) 2. Create a launch file. …
How to use iRobot Create with ROS Indigo and Gazebo
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 …
How to use irobot create in gazebo with ROS hydro?
I’ve not been able to find any clear examples on how to achieve a simple simulation which involves moving a virtual model of an iRobot Create/Roomba in Gazebo using ROS …