Différences

Ci-dessous, les différences entre deux révisions de la page.

--- lissi:rosslam [2014/01/15 11:25] – aurelien.hazan
+++ lissi:rosslam [2014/01/15 11:44] (Version actuelle) – aurelien.hazan
@@ Ligne 1: / Ligne 1: @@
 =====SLAM: Self Localization and  Mapping =====
-==== gmapping ====
 **Prerequisite:**
   * get a running catkin environment.
@@ Ligne 7: / Ligne 6: @@
   * check the necessary topics are up and running (''cmd_vel'', ''laser'', ''tf'',...)
   * [[ROSLaserFilter|Filter]] the LaserScan if necessary.
+  * Run: roscore and robot drivers and scripts.
-Then:
+----
-  * multiplexed connexion to robot
-  * run roscore
-  * run robot scripts
-  * gmapping of hector slam.
+==== gmapping ====
 Even without having a map of the environment, we can create one on-the-fly, thanks to
 [[http://wiki.ros.org/slam_gmapping/Tutorials|SLAM]] (Self Localization and Mapping).
@@ Ligne 43: / Ligne 40: @@
 ----
 ==== Hector Slam====
-This [[http://wiki.ros.org/hector_slam|package]] is part of the [[http://wiki.ros.org/tu-darmstadt-ros-pkg|TU Darmstadt]] repository.
+  * This [[http://wiki.ros.org/hector_slam|metapackage]] is part of the [[http://wiki.ros.org/tu-darmstadt-ros-pkg|TU Darmstadt]] repository.
+  * To install it in Debian/Ubuntu:  <WRAP box 350px>''sudo apt-get install ros-hydro-hector-slam'' </WRAP>
-To install it in Debian/Ubuntu:
+  * For mapping, we're intested in the [[http://wiki.ros.org/hector_mapping|hector_mapping]] package.
- <WRAP box 350px>''sudo apt-get install ros-hydro-hector-slam'' </WRAP>
 ----