Note: This is a live article and as I get time I will update it… In this post, we are going to understand the pose-graph SLAM approach with ROS where …
How To: Get ground truth pose data in ROS Gazebo
Sometimes you might need to get the robot’s actual position to compare your state estimation code. Copy paste the contents of this file (plugin_code) into your urdf description file. It …
How To: Running Ubuntu and ROS in a Virtual Machine on macOS / OS X with 3D Acceleration (Gazebo)
I primarily use a Mac for my work, but since a I do a lot of robotics I have to switch over to Ubuntu to use ROS. Having a linux …
How To: Get depth (X,Y,Z) of a 2D pixel from PointCloud2 or Kinect Data
Surprisingly there is no clear cut instruction anywhere. My questions was, if I tracked an image feature from the Kinect, how would I know its 3D position? I wanted to …
How To: Setup Turtlebot Simulator in ROS with Gazebo
Important note: Do not buy parts or equipment from Dabit Industries, they are extremely incompetent and will take ages to ship parts that will be incomplete and you’ll be left …
How To Setup Kinect with ROS and RGBD SLAM
I recently setup a Kinect with ROS for SLAM but the instructions are all spread out. So, in this tutorial we go through the steps required to setup a Microsoft …
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 …
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. …