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imeshsps / ros-navbot

Indoor Mapping and Navigation Robot Build with ROS and Nvidia Jetson Nano
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Some doubts #1

Open aguilaair opened 5 years ago

aguilaair commented 5 years ago

Hey!

I hope it's alright to be contacting you about this project. We are a small team that are designing the first version of our first responder robot. We are very interested in implementing mapping with the XBOX 360 Kinect but we have some doubts on how this repo works, and I hoped you could shed some light.

So, from what we can assume the mapping does not actually take place on the Jetson and is instead carried out on another computer. Cloud you guide us how to set this up?

Also, is it okay if we ask you more questions through this issue?

Thanks in advance!

iman01 commented 4 years ago

Hey!

I hope it's alright to be contacting you about this project. We are a small team that are designing the first version of our first responder robot. We are very interested in implementing mapping with the XBOX 360 Kinect but we have some doubts on how this repo works, and I hoped you could shed some light.

So, from what we can assume the mapping does not actually take place on the Jetson and is instead carried out on another computer. Cloud you guide us how to set this up?

Also, is it okay if we ask you more questions through this issue?

Thanks in advance!

Hey there, I’m not the package owner, but i can answer your question. So generally we are talking about a ROS system, doesn’t matter what the project is, ROS can be implemented in a network of computers and embedded systems and each node running in different machines!

http://wiki.ros.org/ROS/NetworkSetup https://www2.nootrix.com/diy-tutos/ros-networking/ Can help you!

However it is recommended by ROS to run the driver nodes on the same machine as the hardware, e.g run the Kinect driver node on the robot embedded system, and your navigation and map on your pc that is connected to robot by network. And all depends on how fast is your device, to run the nodes there or on other machine!

For example map and navigation can be run robot and monitored on the computer in same network.

I suggest to start getting your hands dirty and build the project, you will get a better understanding then!

Cheers!

imeshsps commented 4 years ago

Sorry for very very delayed reply but I hope this will help someone out there. In this project, all the nodes are running on Jetson including for 2d mapping odometry calculations, rosserial, gmapping and for 3d mapping rtabmap and for navigation, ros navigation and amcl. I used PC only for remote visualization. When I try to run rviz on jetson same time and vizualize generating pointcloud, it freezes. Processing power seems to be not enough. As iman01 mentioned, there is nothing like getting hands on experience. If you need any help, please try to contact me through LinkedIn. I'm open to help anyone as I learned most of these also thanks to awesome community out there. Sorry for somehow missing this question long time ago.

wlzxzq commented 4 years ago

Hi, I know you from Github, I know you have done the work about ROS ROBOT, I want to get some reference.