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iRobotEducation / create3_examples

Example nodes to drive the iRobot® Create® 3 Educational Robot
BSD 3-Clause "New" or "Revised" License
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Request for LIDAR SLAM tutorial #21

Closed shamlian closed 2 years ago

shamlian commented 2 years ago

Discussed in https://github.com/iRobotEducation/create3_docs/discussions/54

Originally posted by **Yskandar** May 12, 2022 Hey everyone, I am with a robotics lab at UCLA and we are interested in this product, we're looking for a robot on which we could perform ros-based slam without struggling to much in installations and such. To be more specific, here is what I want to do: - **I want to mount the RPLiDAR A1 (or A2) on top of the create 3, and I want to be able to access on my computer both the topics published/subscribed by both the create 3 and the RPLiDAR. Then, I want to use the slam_toolbox (or any other package) on my computer, using the scans from the LiDAR and other informations from the create3 topics.** After reading the docs and the issues in the discussion, the following questions remain: 1. Do I need a Raspberry Pi? I would gess so since I would like to access both the create3 and rplidar topics by wifi, since usb cables are a pain for mobile robots. 2. Is there a ROS 2 package for the create 3 that I would need to launch from my computer to access the topics of the create3 ? Or is it enough to follow the docs, meaning connect to the create 3 wifi, update the firmware and then the topics of the create3 will magically appear in my ROS2 server on my computer ? 3. The RPLiDAR's packages are in ROS1 if I am not mistaken, is this gonna be a problem? I've seen that "shamlian" used the A1 with create 3 so I'm guessing there won't be a problem. Sorry for this long post, thank you in advance for your help !! Yskandar
shamlian commented 2 years ago

@Yskandar not sure if you can see this, but I'll be updating progress here. I've written a barebones tutorial and it can be found in this repo in the create3_lidar branch.

Yskandar commented 2 years ago

Hey Steven,

Thank you for that, I can see the branch indeed. I'll keep an eye on that, thank you for your work! Enjoy your week-end !

Yskandar