Kategorie: ‘ROS’
SLAM validation using iGPS
For the validation of localization and mapping algorithms (SLAM) for mobile robots, we use at IGMR the indoor Global Positioning System from Nikon.
SLAM is a classical problem in mobile robotics and still a current and challenging research topic. The current developments are focused in improving SLAM algorithms with respect to a high accuracy, generality, and robustness. For this reason, we validate our SLAM algorithms for mobile robotics with the Nikon iGPS which is used to generate a ground truth with a frequency of 40 Hz and an accuracy of 0.2 mm. In this way, critical inaccuracies and loop closure methods can be much better quantified and analyzed.
Project page:
Bots2Rec
Contact person:
Simon Schläger
WAAM simulation with ROS in Gazebo
Vincent Brünjes designed a Gazebo plug-in in his master‘s thesis to simulate multidirectional wire+arc additive manufacturing processes.
Contacts:
Execution of the planned actions in CoppeliaSim
Implementation of ROS Action Interfaces to connect the AI task planning framework ROSPlan with the simulation software CoppeliaSim
Contact person:
Task planning in industrial scenario
PDDL modeling, ROSPlan and Gazebo simulations are used to improve automatic scheduling algorithms for scenarios with collaborating actors.
Contact person:
Realistic simulations in Gazebo
At IGMR we develop complex simulation environments. Textures make them visually more realistic in simulation program Gazebo!
Contact person:
