Progress Update and Random Thoughts

A project log for Sparki SLAM

An implementation of a Simultaneous Location and Mapping algorithm for the Sparki robot to be used in middle or high school robotics classes

brnd4nbrnd4n 08/21/2014 at 05:270 Comments

As of my last post, I had finished a working ROS node for Sparki so I have now completed the Sparki <--> Raspberry Pi communication portion of the project. Now I am working on one of the harder parts, getting the ROS Navigation Stack to run on the Pi. I compiled the core ROS pieces from source on the Pi successfully. I am now working on installing the navigation stack itself. It has a lot more dependencies that are not available through Raspbian or Debian packages. We'll see if I can pull that off. 

In the mean time, I am also working on getting the navigation stack working with Sparki on my laptop. That involves implementing a TF publisher in the Sparki node and, for the time being, converting the servo angle/ultrasonic distance data into a different format that the nav stack accepts to trick it to work crudely. Once I do that I'll look into a more native, less hack-y solution.

Here's my thoughts on the project so far: