slam.cloud-bra.in
slam.cloud-bra.in
provides the functionality to create 2D map for navigation from the 2D laser scan data without installing specific SLAM method in your PC. (But you need ROS1 and ROS1 supported robot.)
Currently it provides bellow methods.
- cartographer
- slam_toolbox
- gmapping
You’ll get a zip file which contains pgm
file and yaml
file for navigation.
If you have some interest, we are very happy if you give us some feedbacks in cloud-brain discord.
Prepare
Record your robot’s data using rosbag record
Required Topics
- /scan: sensor_msgs/LaserScan
- /tf: tf2_msgs/TFMessage
- /tf_static: tf2_msgs/TFMessage
Check your bag file
Use rosbag info
to check your bag contains required topics.
You can rename your /scan
topic in the next step.
In the bellow example, you have /scan/front_filtered
and /scan/rear_filtered
.
$ rosbag info 2022-05-12-08-30-17.bag
path: 2022-05-12-08-30-17.bag
version: 2.0
duration: 1:41s (101s)
start: May 12 2022 08:30:17.20 (1652311817.20)
end: May 12 2022 08:31:58.77 (1652311918.77)
size: 4.5 MB
messages: 6341
compression: lz4 [18/18 chunks; 34.18%]
uncompressed: 12.9 MB @ 130.0 KB/s
compressed: 4.4 MB @ 44.4 KB/s (34.18%)
types: sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /scan/front_filtered 1068 msgs : sensor_msgs/LaserScan
/scan/rear_filtered 1067 msgs : sensor_msgs/LaserScan
/tf 4201 msgs : tf2_msgs/TFMessage
/tf_static 5 msgs : tf2_msgs/TFMessage
Compress your bag file (optional)
Compress your bag file to reduce the size of the data to be uploaded.
rosbag compress 2022-05-12-08-30-17.bag
Use slam.cloud-bra.in
- Access slam.cloud-bra.in
- Select your bag file
- Change the scan_topic name and frame_id if you need
- In the above example, rename
/scan
to/scan/front_filtered
- Check if it’s OK to use
/base_link
as robot frame_id
- In the above example, rename
- Upload!
- Wait until the map is completed
- Check and download the results
Sample bags
You can download a sample bag file here.
What is cloud-bra.in?
This is an experimental project by Smile Robotics.