Hi Goncalo,<div><br></div><div>We built a &#39;coastal&#39; 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:</div>
<div><br></div><div><a href="http://www.youtube.com/merlinlive">http://www.youtube.com/merlinlive</a></div><div><br></div><div><a href="http://www.youtube.com/merlinlive"></a>Unfortunately, we have not ported this into the ROS framework yet.</div>
<div><br>Best regards,</div><div><br></div><div><br></div><div>Mark Norman</div><div>Merlin Systems Corp. Ltd</div><div><a href="http://www.merlinsystemscorp.co.uk">http://www.merlinsystemscorp.co.uk</a></div><div><br><div class="gmail_quote">
2011/2/18 Gonçalo Cabrita <span dir="ltr">&lt;<a href="mailto:goncabrita@gmail.com">goncabrita@gmail.com</a>&gt;</span><br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi everyone!<div><br></div><div>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.</div><div><br></div><div>

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&#39;t be great for sure, but maybe the Roomba would be able to move around without crashing.</div>

<div><br></div><div>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 )?</div><div><br></div><div>Thanks for your thoughts in advance,</div><div><br>

</div><div>Gonçalo Cabrita</div><div>ISR University of Coimbra</div><div>Portugal</div><div><br></div><div><br></div><div><br></div>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br><br clear="all"><br><br>
</div>