vegvisir

Create 2D maps of physical spaces using Nav2 and RPLidar

ᚹᚨᚾᛞᛖᚱᛁᛜ ᛒᚢᛏ ᚾᛟᛏ ᛚᛟᛊᛏ

Tech Used

• ROS2 Galactic
• Nav2
• RPLidar A1

Demo

Usage

docker run --rm -it --net=host --device /dev/dri/ --device /dev/ttyUSB0 -e DISPLAY=$DISPLAY -v $HOME/.Xauthority:/root/.Xauthority:ro vegvisir:latest

Next steps

• Decouple scanner from nav2 brain to 2 containers

References

• Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach. ICRA 2016 paper
• linorobot2