1. 1. ROS SLAM The 3rd Open Robotics Seminar WWW.OROCA.ORG Section 9. 2015/05/24
2. 2. ROSRobot Operating System
3. 3. ROSRobot Operating System
4. 4. ? ;;
5. 5. ? OTL... ! ;;
6. 6. ~ ! ?
7. 7. by Wikimol, CC BY-SA 3.0 1. . 2. . 3. (). - -
8. 8. Ciaran Griffin, http://www.gettyimages.com 1. . 2. . 3. (). - -
9. 9. ?
10. 10. http://www.pinterest.com/jerodor/cagaduisimo/
11. 11. Big Dipper, by Magnus Manske, Public Domain pixabay.com, CC0
12. 12. !
13. 13. ( .)
14. 14. A B ! !
15. 15. A B ! ! : / : , : :
16. 16. StarGazer Vicon MXEstimote (Beacon)
17. 17. Kobuki
18. 18. pixabay.com, CC0 ! OK! , , , ? , ? SLAM (Simultaneous Localization And Mapping) ? ! ?
19. 19. https://students.cs.byu.edu/~cs470ta, http://vimeo.com/3423169
20. 20. pixabay.com, CC0, www.willowgarage.com CC BY 3.0
21. 21. pixabay.com, CC0, www.willowgarage.com CC BY 3.0 + ++ SLAM Navigation
22. 22. ROSRobot Operating System
23. 23. https://www.openslam.org/gmapping.html
24. 24. $ sudo apt-get install ros-indigo-kobuki* ros-indigo-gmapping ros-indigo-navigation $ sudo apt-get install ros-indigo-urg-node $ cd ~/catkin_ws/src $ git clone https://github.com/oroca/oroca-ros-pkg.git $ cd ~/catkin_ws && catkin_make
25. 25. $ roscore $ roslaunch kobuki_node minimal.launch $ sudo chmod a+rw /dev/ttyACM0 $ roslaunch kobuki_slam kobuki_slam.launch $ rosrun rviz rviz -d `rospack find kobuki_slam`/rviz/kobuki_slam.rviz $ roslaunch kobuki_keyop safe_keyop.launch $ rosrun map_server map_saver
26. 26. 2 (OGM, Occupancy Grid Map) = (free area) = (occupied area) = (unknown area)
27. 27. https://mirror.enha.kr/
28. 28. SLAM, Navigation ? SLAM, Navigation . .
29. 29. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM, Navigation . .
30. 30. http://en.wikipedia.org/wiki/Kalman_filter, CC0
31. 31. S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. MIT Press, Cambridge, MA, 2005.
32. 32. Dynamic Window D. Fox, W. Burgard and S. Thrun, The dynamic window approach to collision avoidance, IEEE Robotics & Automation Magazine
33. 33. Goal
34. 34. Goal
35. 35. Goal
36. 36. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM, Navigation . .
37. 37. Thank you for your attention. Yoonseok Pyo passionvirus@gmail.com www.robotpilot.net WWW.OROCA.ORG