Day 3

Slides: SLAM and transforms in ROS

• Connecting Android sensors to ROS transforms
  • Setting up an Android phone as a sensor
  • Visualizing IMU data in RViz
  • Creating a static transform
  • Dynamic transform
• Mapping and navigation in simulated environment
  • Setting up ROS Navigation and Robotont in Gazebo simulation
  • Teleoperating the robot in Gazebo and visualization in RViz
  • Creating a 2D map of an environment
  • Navigating the maze by sending navigation goals in RViz
  • Sending navigation goals with a ROS node
• 2D mapping and navigation on Robotont
  • Establish connection to the robot
  • Tweaking ROS Navigation parameters
• 3D mapping on Robotont