thenoobinventor / lidarbot Goto Github PK

Hi, your project is so nice, I wanna make it but in my country motor drive hat doesn't available. Can you write code for l298n motor drive instead of motor drive hat.thanks

Hi, thanks for your project.
I followed the steps from: https://github.com/TheNoobInventor/lidarbot?tab=readme-ov-file#mapping, to launch Gazebo simulation. The Gazebo looks good but I got an error in RViz that no transform from [object] to [map].
Basically, I did not change anything but only the mapper_params_online_async.yaml file with following parameters:

map_file_name: /my_path/src/lidarbot_navigation/maps/sim_map
map_start_pose: [0.0, 0.0, 0.0]
#map_start_at_dock: true 

Do you have any idea why I have this error? Thanks in advance!

After going through step by step process i finallu ran this command
"rosdep install --from-paths src --ignore-src --rosdistro humble -r -y"

and i got this error
aiot@ubuntu:~/ros2_ws$ rosdep install --from-paths src --ignore-src --rosdistro humble -r -y
executing command [sudo -H apt-get install -y ros-humble-gazebo-ros2-control]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-humble-gazebo-ros2-control
executing command [sudo -H apt-get install -y ros-humble-gazebo-ros-pkgs]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-humble-gazebo-ros-pkgs
ERROR: the following rosdeps failed to install
apt: command [sudo -H apt-get install -y ros-humble-gazebo-ros2-control] failed
apt: command [sudo -H apt-get install -y ros-humble-gazebo-ros-pkgs] failed
apt: Failed to detect successful installation of [ros-humble-gazebo-ros2-control]
apt: Failed to detect successful installation of [ros-humble-gazebo-ros-pkgs]

Hi,
Thanks for your contribution in this project.
I have a question rather than an issue with your source code.

https://github.com/TheNoobInventor/lidarbot/blob/main/lidarbot_base/src/motor_encoder.c
In this c file, you set the motor_speed coefficient as 1.65, so I would like to ask how did you calculate this value?
Thank you.

Hi I am a 2nd grade student in Electrical Electronical Engineering. I follow to day a day your project. But today you delete your repo. Can you share with me for I having a ideas to solving my problems.

Update: problem is solved🥳

Hi Chinedu, thank you for the amazing project and work!!!
I am currently working on a Bachelor thesis project and referring to your project code. For my project, I am using an Arduino robot with a differential drive wheel, the Arduino robot is equipped with a Raspberry PI4 board and a RPLidar laser ranger. ROS2 is running on the Raspberry PI (as ROS2 server), which controls the RPLidar and Arduino. I've implemented a hardware interface between ROS2 and the motor/encoder, as well as a serial communication interface between Raspberry PI and Arduino. On my PC, (as ROS2 client), I am running RViz, Navigation2 and SLAM, a server and client network configuration is also set up. I do not have a camera nor IMU sensor equipped on my robot.

However, I've encountered some issues with RViz during map generation and navigation.

• map generation:
  When Arduino robot is driven around using a joystick, there is a flickering issue with the robot model in RViz. The lidar map can be generated (please refer to video: “map_generation_RViz" and “map_generation_robot").
• navigation:
  The lidar map saved from map generation is used for navigation. However, the robot model in RViz moves slowly to another position and sometimes jumps to other positions, even though the Arduino robot remains stationary. The workaround for this issue is to re-estimate the position of the robot model in RViz before setting the next navigation goal. After the re-estimation, the Arduino robot will adjust its position and velocity to the according direction, then the next navigation goal can be set (please refer to video: "navigation_RViz" and “navigation_robot").

Here are the videos demonstrating the Arduino robot and RViz (link: https://drive.google.com/drive/folders/1d4ghat_3an8GGp7BKmsZSXNS8OKigj-e?usp=drive_link).

I am quite new to ROS2 and have been unable to resolve this problem despite trying some troubleshooting methods..... I really wish you could give me some advice and suggestions. Thank you so much and looking forward to your reply!

Hi! I am learning multi-sensor fusion related knowledge and just found this amazing project. Can I ask is the camera involved in the mapping, or obstacle avoidance?

Hi I can't install Gazebo Classic or Gazebo 11 with Humble version. How did you do?

after installing the Docs / Gazebo Harmonic https://gazebosim.org/docs/harmonic/install_ubuntu

then i run the commmand ros2 launch lidarbot_description description_launch.py
and i got Error like Package 'lidar_description not found'