- Mapping using Rtabmap with D455 and 2d lidar
- Navigation using move_base
Navigation
Jun 8, 2021
Indoor 3d SLAM with d455 and exploring various sensor data
Here I manually control the hexapod with a ps4 controller around the room. ROS master node is running on the bot on a Jetson NX. It has a 2D lidar and a Realsense depth camera. It runs the openshc package for hexapod control, and rtabmap for 3D SLAM. Visualization is done on a desktop machine on the same network.
Long video of testing the admittance controller
Short screen capture of exploring variables on rviz/rqt
Outdoor flat forest floor traverse test
Side by side with Make 2
Assembled
Close up
Visualization of topic data from openshc with rqt and rviz
Added fans
Silicon anti slip cap (and the mould)
Inspired by Smallp Tsai’s hexapod v2.1 video
With the choice of the board | Total cost around |
---|---|
Jetson Xavier NX | $1250 |
Jetson Nano | $1000 |
Raspberry Pi | $920 |