zumo32u4 (Assembled with 100:1 HP Motors)

SLAM by RaspberryPi3 + Zumo32u4 + RPLidarA1M8
Construction of GMapping environment or GoogleCartoGrapher environment using Zumo 32u4.

【Japanese article Gmapping】 https://qiita.com/PINTO/items/9aa737c284dc4e8212f1

【Japanese article Google CartoGrapher-01】 https://qiita.com/PINTO/items/4845c438cac05eda4d1e
【Japanese article Google CartoGrapher-02】 https://qiita.com/PINTO/items/fb0d44b2bb9455800667
【Japanese article Google CartoGrapher-03】 https://qiita.com/PINTO/items/d8fd7a91ee00df7702b7
【Japanese article Google CartoGrapher-04】 https://qiita.com/PINTO/items/f8fa5d6ce55317ea590b

＜Gmapping＞

＜Google CartoGrapher＞
No odometry and no IMU
Use 2D LiDAR only

With odometry and IMU and 2D LiDAR

◆ Change log

2018.05.05 Ver 0.1.0 Under development
2018.05.12 Ver 1.0.0 First Release
2018.06.10 Ver 1.0.1 Bug fix. Maintenance continues for Readme.

◆ Environment

Zumo32u4 (ATmega32u4 Assembled with 100:1 HP Motors)
RaspberryPi3 (Raspbian Stretch + ROS kinetic)
RPLidar A1M8 (SDK ver 1.5.7 / Firmware ver 1.20)
Python2.7
C++
ROS kinetic
Working PC1 (Ubuntu16.04 + ROS kinetic + ArduinoIDE 1.8.5)
Working PC2 (Windows10 + TeraTerm)

◆ Procedure for environment building (Common procedure between GMapping and Google CartoGrapher)

Perform work with Ubuntu16.04

Execute below

$ export ROS_MASTER_URI=http://raspberrypi.local:11311/

OR

$ export ROS_MASTER_URI=http://<RaspberryPi IPaddress>:11311/

Perform work with RaspberryPi3 (Raspbian Stretch)

Introduction of navigation package. Execute below.

$ sudo apt update;sudo apt upgrade
$ sudo apt install -y libbullet-dev libsdl-dev libsdl2-2.0 \
libsdl2-dev libsdl-image1.2-dev libyaml-cpp0.3-dev libyaml-cpp0.3v5

$ cd ~
$ sudo apt install cmake-curses-gui
$ git clone -b debian/kinetic/bfl https://github.com/PINTO0309/bfl-release.git
$ cd bfl-release;mkdir build;cd build
$ ccmake ..

Press the "c" key
Wait about 30 seconds
Press the "e" key
Set as shown below
Introduction of navigation package. Execute below.

$ make -j3
$ sudo make install

$ cd ~
$ sudo apt install -y liborocos-kdl-dev liborocos-kdl1.3 libflann1.9 libflann-dev \
libpcl-apps1.8 libpcl-common1.8 libpcl-dev libpcl-doc libpcl-features1.8 \
libpcl-filters1.8 libpcl-io1.8 libpcl-kdtree1.8 libpcl-keypoints1.8 libpcl-ml1.8 \
libpcl-octree1.8 libpcl-outofcore1.8 libpcl-people1.8 libpcl-recognition1.8 \
libpcl-registration1.8 libpcl-sample-consensus1.8 libpcl-search1.8 \
libpcl-segmentation1.8 libpcl-stereo1.8 libpcl-surface1.8 libpcl-tracking1.8 \
libpcl-visualization1.8 pcl-tools libvtk6-dev libvtk6-java libvtk6-jni \
libvtk6-qt-dev libvtk6.3 libvtk6.3-qt python-vtk6 tcl-vtk6 vtk6 vtk6-doc \
vtk6-examples libpoco-dev libpococrypto46 libpocodata46 libpocodatamysql46 \
libpocodataodbc46 libpocodatasqlite46 libpocofoundation46 libpocomongodb46 \
libpoconet46 libpoconetssl46 libpocoutil46 libpocoxml46 libpocozip46

$ cd /
$ sudo wget https://github.com/PINTO0309/uEye_4.90.0_Linux_Arm64hf/raw/master/uEye_4.90.0_Linux_Arm64hf.tgz
$ sudo tar -xzvf uEye_4.90.0_Linux_Arm64hf.tgz
$ sudo rm uEye_4.90.0_Linux_Arm64hf.tgz
$ sudo /usr/local/share/ueye/bin/ueyesdk-setup.sh

$ sudo nano /etc/dphys-swapfile
CONF_SWAPSIZE=2048
$ sudo /etc/init.d/dphys-swapfile restart swapon -s

$ export CMAKE_PREFIX_PATH=/opt/ros/kinetic:/home/pi/catkin_ws/devel:/home/pi/catkin_ws/install
$ cd ~/catkin_ws/src
$ git clone -b kinetic-devel https://github.com/PINTO0309/geometry2.git; \
git clone https://github.com/PINTO0309/dynamic_reconfigure.git; \
git clone https://github.com/PINTO0309/laser_geometry.git; \
git clone https://github.com/PINTO0309/navigation_msgs.git; \
git clone https://github.com/PINTO0309/perception_pcl.git; \
git clone https://github.com/PINTO0309/pcl_msgs.git; \
git clone https://github.com/PINTO0309/nodelet_core.git; \
git clone https://github.com/PINTO0309/bond_core.git; \
git clone -b kinetic-devel https://github.com/PINTO0309/pluginlib.git; \
git clone https://github.com/PINTO0309/class_loader.git; \
git clone https://github.com/PINTO0309/image_common.git; \
git clone https://github.com/PINTO0309/vision_opencv.git; \
git clone https://github.com/PINTO0309/geometry.git; \
git clone https://github.com/PINTO0309/roslint.git; \
git clone https://github.com/PINTO0309/navigation.git

$ cd ..
$ catkin_make -j1
$ sudo reboot

Introduction of openslam_gmapping package and slam_gmapping meta package. Execute below.

$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/openslam_gmapping.git
$ git clone https://github.com/PINTO0309/slam_gmapping.git

$ cd ..
$ catkin_make -j1

Introduction of RPLidarROS package. Execute below.

$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/rplidar_ros.git
$ cd ..
$ catkin_make

Perform work with Ubuntu16.04

Introduction of rviz option package. Execute below.

$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/visualization_tutorials.git
$ git clone https://github.com/PINTO0309/joint_state_publisher.git
$ git clone https://github.com/PINTO0309/robot_state_publisher.git
$ catkin_make

Remodel the rosserial library. Execute below.

$ cd /home/<username>/Arduino/libraries/Rosserial_Arduino_Library/src
$ cp ros.h BK_ros.h
$ sudo nano ros.h

#else
  typedef NodeHandle_<ArduinoHardware, 15, 15, 128, 1024, FlashReadOutBuffer_> NodeHandle;

$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/zumo32u4.git

After connecting Ubuntu and Arduino via a microUSB cable, open zumo32u4/zumo32u4arduino.ino in ArduinoIDE in the set of programs cloned above.
Write a sketch to Arduino with "→" button of ArduinoIDE.

Perform work with RaspberryPi3 (Raspbian Stretch)

Execute below.

$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/zumo32u4.git
$ cd ..
$ catkin_make

◆ Introduction of Google CartoGrapher

Perform work with Ubuntu16.04

Execute below.

$ sudo apt update
$ sudo apt install -y python-wstool python-rosdep ninja-build
$ cd catkin_ws
$ wstool init src
$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
$ wstool update -t src
$ src/cartographer/scripts/install_proto3.sh
$ sudo rosdep init   #<--- Ignoring an error
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash

Perform work with RaspberryPi3 (Raspbian Stretch)

Execute below.

$ sudo apt update;sudo apt upgrade
$ sudo apt install -y python-wstool python-rosdep ninja-build
$ cd catkin_ws
$ wstool init src
$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
$ wstool update -t src
$ src/cartographer/scripts/install_proto3.sh
$ sudo rosdep init   #<--- Ignoring an error
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

Execute below.

$ sudo nano /etc/dphys-swapfile
CONF_SWAPSIZE=2048
$ sudo /etc/init.d/dphys-swapfile restart swapon -s
$ sudo apt install libsuitesparse-dev libsuitesparseconfig4 libcxsparse3 \
libmetis-dev libmetis5 libmetis5-dbg metis libtbb-dev libtbb2 lua-bit32 \
lua-bit32-dev liblua5.3-0 liblua5.3-0-dbg liblua5.3-dev lua5.3 sphinx-common \
liburdfdom-tools libogre-1.9.0v5 ogre-1.9-tools libogre-1.9-dev \
assimp-utils libassimp3v5 python-pyassimp libassimp-dev \
qt3d-assimpsceneio-plugin sip-dev librviz-dev librviz2d python-rviz rviz
$ cd src
$ git clone https://github.com/PINTO0309/urdf.git
$ git clone https://github.com/PINTO0309/urdfdom_headers.git
$ git clone https://github.com/PINTO0309/rosconsole_bridge.git
$ cd urdfdom_headers
$ mkdir build && cd build && cmake ../ && make && sudo make install
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/urdfdom.git
$ cd urdfdom
$ mkdir build && cd build && cmake ../ && make && sudo make install
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/interactive_markers.git
$ git clone https://github.com/PINTO0309/python_qt_binding.git
$ git clone https://github.com/PINTO0309/resource_retriever.git
$ git clone https://github.com/PINTO0309/robot_state_publisher.git
$ git clone https://github.com/PINTO0309/kdl_parser.git
$ git clone https://github.com/PINTO0309/rplidar_ros.git
$ git clone https://github.com/PINTO0309/rosserial.git
$ git clone https://github.com/PINTO0309/zumo32u4.git
$ cd ~
$ git clone https://github.com/PINTO0309/pybindgen.git
$ cd pybindgen
$ sudo python setup.py install
$ cd ~/catkin_ws/src/cartographer_ros
$ rm -r -f cartographer_rviz
$ cd ~/catkin_ws
$ catkin_make_isolated -j1 --install --use-ninja
$ source install_isolated/setup.bash

Perform work with Ubuntu16.04

Execute below.

$ cd ~/catkin_ws/src/zumo32u4/urdf
$ cp zumo32u4.STL ~/catkin_ws/install_isolated/share/cartographer_ros/urdf
$ cp zumo32u4.gv ~/catkin_ws/install_isolated/share/cartographer_ros/urdf
$ cp zumo32u4.urdf ~/catkin_ws/install_isolated/share/cartographer_ros/urdf
$ nano ~/catkin_ws/install_isolated/share/cartographer_ros/urdf/zumo32u4.urdf

<geometry>
    <mesh filename="package://cartographer_ros/urdf/zumo32u4.STL" scale="1 1 1"/>
</geometry>

Execute below.

$ nano ~/catkin_ws/src/cartographer_ros/cartographer_ros/launch/backpack_2d.launch

<?xml version="1.0" ?>
<launch>
  <param
      name="robot_description"
      textfile="$(find cartographer_ros)/urdf/zumo32u4.urdf"
  />
  <node
      name="rviz"
      pkg="rviz"
      type="rviz"
      required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz"
  />
</launch>

Execute below.

$ nano ~/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/demo_2d.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Submaps1
        - /PointCloud21
        - /Map1
      Splitter Ratio: 0.600670993
    Tree Height: 322
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        base_link:
          Value: true
        horizontal_laser_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          base_link:
            horizontal_laser_link:
              {}
            odom:
              {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        map:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        odom:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: Submaps
      Enabled: true
      Fade-out distance: 1
      High Resolution: true
      Low Resolution: false
      Name: Submaps
      Submap query service: /submap_query
      Submaps:
        All: true
        Trajectory 0:
          0.43: true
          Value: true
      Topic: /submap_list
      Tracking frame: base_link
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.0500000007
      Style: Flat Squares
      Topic: /scan_matched_points2
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /trajectory_node_list
      Name: Trajectories
      Namespaces:
        Trajectory 0: true
      Queue Size: 100
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /landmark_poses_list
      Name: Landmark Poses
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /constraint_list
      Name: Constraints
      Namespaces:
        Inter constraints, different trajectories: true
        Inter constraints, same trajectory: true
        Inter residuals, different trajectories: true
        Inter residuals, same trajectory: true
        Intra constraints: true
        Intra residuals: true
      Queue Size: 100
      Value: true
    - Alpha: 0.699999988
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 100; 100; 100
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: 0
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Scale: 92.3554459
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 0.837544441
      Y: 1.4433645
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 848
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001c5000002c6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000183000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001b10000013d0000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003efc0100000002fb0000000800540069006d00650100000000000005ff0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000434000002c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1535
  X: 55
  Y: 14

Execute below.

$ cd ~/catkin_ws
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash

Perform work with RaspberryPi3 (Raspbian Stretch)

Execute below.

$ cd ~/catkin_ws/src/cartographer_ros/cartographer_ros/launch
$ cp backpack_2d.launch BK_backpack_2d.launch
$ nano backpack_2d.launch

<?xml version="1.0" ?>
<launch>
  <param
      name="robot_description"
      textfile="$(find zumo32u4)/urdf/zumo32u4.urdf"
  />
  <node
     name="horizontal_laser"
     pkg="rplidar_ros"
     type="rplidarNode"
     output="screen">
     <param name="serial_port"      type="string" value="/dev/ttyUSB0"/>
     <param name="serial_baudrate"  type="int"    value="115200"/>
     <param name="frame_id"         type="string" value="horizontal_laser_link"/>
     <param name="inverted"         type="bool"   value="false"/>
     <param name="angle_compensate" type="bool"   value="true"/>
  </node>
  <node
      pkg="tf"
      type="static_transform_publisher"
      name="base_link_connect"
      args="0 0 0 0 0 0 /base_link /horizontal_laser_link 100"
  />
  <node
      pkg="tf"
      type="static_transform_publisher"
      name="imu_link_connect"
      args="0 0 0 0 0 0 /base_link /imu_link 100"
  />
  <node
      name="cartographer_node"
      pkg="cartographer_ros"
      type="cartographer_node"
      args="-configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename backpack_2d.lua"
      output="screen">
  </node>
  <node
      name="cartographer_occupancy_grid_node"
      pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node"
      args="-resolution 0.05"
  />
</launch>

Execute below.

$ cd ~/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files
$ cp backpack_2d.lua BK_backpack_2d.lua
$ nano backpack_2d.lua

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "odom",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.
TRAJECTORY_BUILDER_2D.max_range = 20.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 1e5
POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1e5
POSE_GRAPH.optimization_problem.odometry_translation_weight = 1e5
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e5
POSE_GRAPH.optimization_problem.huber_scale = 1e3

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 10
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 40

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 120
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.1
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)

return options

Execute below.

$ cd ~/catkin_ws
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash

◆ Execution and visualization of map generation by RaspberryPi + Arduino + RPLidar A1M8 + Google CartoGrapher

Perform work with RaspberryPi3 (Raspbian Stretch)

Terminal-1

$ roscore

Terminal-2

$ rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200

Terminal-3

$ sudo rfcomm listen /dev/rfcomm0 1

Windows 10 Launch TeraTerm on PC side and connect to RFCOMM to RaspberryPi.

Terminal-4

$ rosrun zumo32u4 zumo32u4.py

Terminal-5

$ cd ~/catkin_ws
$ source install_isolated/setup.bash
$ roslaunch cartographer_ros backpack_2d.launch

Perform work with Ubuntu16.04

Terminal-1

$ cd ~/catkin_ws
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash
$ export ROS_MASTER_URI=http://raspberrypi.local:11311/
$ roslaunch cartographer_ros backpack_2d.launch

◆ Zumo32u4 operation key mapping

Connect from Windows 10 PC to Raspberry Pi with TeraTerm.
And, you can control by the following key operation.

pinto0309 / zumo32u4 Goto Github PK

zumo32u4's Introduction

zumo32u4 (Assembled with 100:1 HP Motors)

◆ Change log

◆ Environment

◆ Procedure for environment building (Common procedure between GMapping and Google CartoGrapher)

Perform work with Ubuntu16.04

Perform work with RaspberryPi3 (Raspbian Stretch)

Perform work with Ubuntu16.04

Perform work with RaspberryPi3 (Raspbian Stretch)

◆ Introduction of Google CartoGrapher

Perform work with Ubuntu16.04

Perform work with RaspberryPi3 (Raspbian Stretch)

Perform work with Ubuntu16.04

Perform work with RaspberryPi3 (Raspbian Stretch)

◆ Execution and visualization of map generation by RaspberryPi + Arduino + RPLidar A1M8 + Google CartoGrapher

Perform work with RaspberryPi3 (Raspbian Stretch)

Perform work with Ubuntu16.04

◆ Zumo32u4 operation key mapping

zumo32u4's People

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