23: Calibration in preparation for SLAM скачать в хорошем качестве

23: Calibration in preparation for SLAM

I am cleaning up some of the calibration setting on my robot to make sure it is ready for working on SLAM (Simultaneous Localization and Mapping) for the system. SLAM uses POSE information from the robot base to estimate its location and orientation as the base is moving around. SLAM does not need this to be 100% accurate , but the better it is the easier job SLAM has developing a map (in combination with LIDAR scan information -see last video) 00:00 Introduction. 01:21 Before I start celebrating the robot base I wanted to check on the power consumption. In particular, the 5V power consumption as the 12V/5V converter has a limit of 2 Amps. We are fine. 02:15 I calibrate the robot base distance movements ; I mainly need to set the coefficient that will convert the number of encoder ticks from the base motors in a real world distance (millimeters in my case) 04:40 I also calibrate the robot base turning so I can turn it a specific number of degrees. 06:30 While calibrating the turns I notice that turning the base is more temperamental then moving forward and back. It seems that the surface the robot base is running on has a big influence on how easy it turns. I look at what people have seen on the internet and discover tracked robots have a thing called “skid friction” that impacts turning forces when rotating. 09:28 I test my calibration settings by checking the ODOM (Odometry) feedback I am receiving when moving the robot over a known path. I think the results are going to be close enough to support SLAM (At least will get me going) 12:49 I talk about the next tasks I have to get SLAM working including using the SLAM Toolkit ( https://github.com/SteveMacenski/slam... ) and the SLAM introduction video that I found the most useful (   • Understanding SLAM Using Pose Graph Optimi...  ) Lupincorp : https://www.lupincorp.com SLAM toolkit for ROS2: https://github.com/SteveMacenski/slam... SLAM intro video:    • Understanding SLAM Using Pose Graph Optimi...   Github repositories at the end of this video: https://github.com/somervda/ourBotMan... and https://github.com/somervda/ourbotman...