Where communities thrive


  • Join over 1.5M+ people
  • Join over 100K+ communities
  • Free without limits
  • Create your own community
People
Repo info
Activity
  • 08:53
    jlblancoc synchronize #1124
  • 08:53

    jlblancoc on misc-additions

    disable unavailable test (compare)

  • Jan 26 13:38
    jlblancoc synchronize #1124
  • Jan 26 13:38

    jlblancoc on misc-additions

    msvc fixes (compare)

  • Jan 26 03:58
    jlblancoc synchronize #1124
  • Jan 26 03:57

    jlblancoc on misc-additions

    Remove useless includes fix msvc errors (compare)

  • Jan 26 03:53
    jlblancoc commented #1125
  • Jan 26 02:55
    jlblancoc synchronize #1124
  • Jan 26 02:51

    jlblancoc on develop

    Update the ExprTk library Merge pull request #1125 from A… (compare)

  • Jan 26 02:51
    jlblancoc closed #1125
  • Jan 26 02:51
    jlblancoc commented #1125
  • Jan 26 02:19
    jlblancoc synchronize #1124
  • Jan 26 01:42
    ArashPartow opened #1125
  • Jan 24 15:12
    jlblancoc synchronize #1124
  • Jan 24 15:12

    jlblancoc on misc-additions

    fix circle ci command (compare)

  • Jan 24 15:10
    jlblancoc synchronize #1124
  • Jan 24 15:10

    jlblancoc on misc-additions

    Upgraded to use clang-format-10 (compare)

  • Jan 24 12:56
    jlblancoc synchronize #1124
  • Jan 24 12:56

    jlblancoc on misc-additions

    fix clang-format-8 (compare)

  • Jan 24 12:54
    jlblancoc synchronize #1124
joker2904
@joker2904
hello guys
is MRPT a mentoring organization for GoSc this time ? 2019 ?
Hunter Laux
@jolting
Not sure yet. Stay tuned for announcements on our mailing list.
Divya Tiwari
@BackDor3_twitter
Hi can i install the library on raspbian (i've tried the ppa method it's not working). Anyone who has successfully compiled the test.cpp code on raspbian os?
Nikos Koukis
@bergercookie
You can always compile the project from source: https://github.com/MRPT/mrpt#32-build-from-sources :)
And if that doesn't work try opening a new issue https://github.com/MRPT/mrpt/issues
Hunter Laux
@jolting
I don't know if raspbian will work with the ppa. I think you will need an ubuntu based distro.
Ubuntu MATE should run on raspi 2 and 3. On a side note, the jetson nano was recently release. Might be a better option for robotics considering the performance and GPU(although mrpt doesn't have cuda code).
Hunter Laux
@jolting
@jlblancoc can you turn arm64 on in the PPA?
Jose Luis Blanco-Claraco
@jlblancoc
Hi!
It is already enabled ;-)
I have used ubuntu mate in rbpi3 with this ppa successfully, it's the fastest option
DJuego
@DJuego
Hi to all!
I am a absolute newbie in this field. ;-)
I am working in a robotic-based project of Indoor Positioning System.
For this purpose, we are building a robot similar to this: https://www.youtube.com/watch?v=uv2faO7GhXc
First Question: This 4 joints/4 wheels design (or architecture)...
What is its 'formal' denomination?
DJuego
@DJuego
I would like to look for papers or similar that describe or model its kinematics mathematically...
Anyway, we have a ultrasonic indoor "GPS" than promise a +/2cm accuracy.
The challenge is to develop a autonomous drive in order to reach certain coordinates
in the XY plane. Or follow a path as tightly as possible...
What approach can I follow? What family of algorithms solve this kind of problem for mobile robots?
Can MRPT help me?
matrixbot
@matrixbot

bergercookie hey DJuego (Gitter) ,

I'm not sure of the name of this kinematic model. They look very similar to the omni wheels though.
Notice that the wheels themselves are not that special. it's rather the motors above them that rotate them

DJuego
@DJuego
Thanks!
matrixbot
@matrixbot

bergercookie > You could take a look at the mrpt-navigation component

I thinkyou are looking for is the holonomic model

DJuego
@DJuego
@matrixbot Yes. It is holonomic for sure. :-)
matrixbot
@matrixbot

bergercookie https://en.wikipedia.org/wiki/Holonomic_(robotics)

Anyway, there are navigation algorithms in MRPT that can help you navigate from A -> B, given some sensor input. I guess the most popular one would be the reactive navigator: https://www.mrpt.org/tag/reactive-navigation/

bergercookie If you 're using ROS, MRPT also offers ROS wrappers: https://github.com/mrpt-ros-pkg/mrpt_navigation
bergercookie As far as I know though, either the reactive nav2d or the localisation nodes operate using 2D laser scans
DJuego
@DJuego
"reactive navigator". Ok.
Yes. I want to track in real-time. I get the position through a system of ultrasonic beacons.
The promised precision has an estimated +/-2 cm error. The idea is to stay as close as possible to the planned path.
Especially at the destination point.
matrixbot
@matrixbot
bergercookie Well, what's the representation of your planned path though?
DJuego
@DJuego
At the moment I try to avoid ROS. I guess I could change my mind later
matrixbot
@matrixbot
bergercookie is it a black line on a 2D surface?
bergercookie Is it a set of given (x,y) coords?
DJuego
@DJuego
A set of given (x,y) coords sounds good to me.
I want flexibility and versatility.
Actually, the path could have "curves", like the one that can grant a mathematical function (exponential, logarithm, ...).
matrixbot
@matrixbot

bergercookie OK, but how do you reach that (x,y) representation to feed to your algoirthm?

If you have that (x,y) representation and your estimated position from your GPS-like system then you can implement simple PID controllers for the x,y (and theta?) of your robot to follow those waypoints

bergercookie Otherwise you have to "sense" where the line is relative to the robot and have some sort of feedback control loop to follow that line.
Look up path planning algorithms or line following more specifically
DJuego
@DJuego
I understand you. Yes. I hope to have a (X,Y) representation (my desired position) and my "real" position from the sensorial GPS-Like system. I want to minimize the error making the necessary corrections through orders to the 8 actuators (wheels and joints).
DJuego
@DJuego
Well. (X,Y, theta) :-)
Nguyễn Thành Tín
@ngthanhtin
hi everyone
I am a newbie. I have learnt ROS for a few weeks, and I've came across MRPT just a few days ago. I wonder what is the difference between ROS and MRPT. And Are there any resources to learn MRPT. Thank you
1 reply
Jose Luis Blanco-Claraco
@jlblancoc
Hi!
ROS is a meta-operative system, in charge of allowing modules (nodes) to talk to each other. Then, ROS is used for robotics applications, but it's nowadays a quite general framework for distributed computing
MRPT is a set of C++ libraries, for writing robotics apps or libraries, that could be integrated into ROS, or not...
Hope that helps!
Nguyễn Thành Tín
@ngthanhtin
thank you, are there any books to learn MRPT, because I dont know where to start
matrixbot
@matrixbot

saching12 > <@gitter_ngthanhtin:matrix.org> I am a newbie. I have learnt ROS for a few weeks, and I've came across MRPT just a few days ago. I wonder what is the difference between ROS and MRPT. And Are there any resources to learn MRPT. Thank you

hi