Hi Goncalo,

We built a 'coastal' type navigation demo using Roomba type robot and
sensors hooked up to a ESD1000 Bluetooth module to offload the computation
to another server.  If you are not too concerned with accuracy it works
quite well. You can see a video demo here:

http://www.youtube.com/merlinlive

<http://www.youtube.com/merlinlive>Unfortunately, we have not ported this
into the ROS framework yet.

Best regards,


Mark Norman
Merlin Systems Corp. Ltd
http://www.merlinsystemscorp.co.uk

2011/2/18 Gonçalo Cabrita <goncabrita@gmail.com>

> Hi everyone!
>
> Here at the lab we use mostly the Roombas. Thanks to Eitan we
> now successfully run our Roombas with the navigation stack using a Hokuyo
> laser for obstacle detection.
>
> However the Roombas come equipped with many cool sensors. I was wondering
> if it would be possible to use the Roomba as is, to run a simplified version
> of the navigation stack. My idea was to publish the IR data as a point cloud
> and feed the information into move_base running solely on a local dynamic
> map, so no map server or amcl. The performance wouldn't be great for sure,
> but maybe the Roomba would be able to move around without crashing.
>
> What are your thoughts on that? Is it even worth a try or is it just
> idiotic ( the IR sensors have a range of about 20cm :P )?
>
> Thanks for your thoughts in advance,
>
> Gonçalo Cabrita
> ISR University of Coimbra
> Portugal
>
>
>
>
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