Category Archives: aMoSeRo

aMoSeRo source code online on Github

IMG_20140716_1817151-624x468I reactivated my old laptop and released the source code of the amosero robot. In case you want to build your own – do not hesitate to contact me to get a detailed construction info for free.

Have a nice day!

aMoSeRo – 3D Cheese!

I have implemented a 3D photo function that is computational not very intensive. It gets triggered by pressing a key when a snapshot is wanted. By that it is possible to add a big Point Cloud around the map as you can see here:

Now writing needs to be finished, code needs to be commented and cleaned up – last two weeks already begun.

aMoSeRo – mapping the reality

Today is the day of the first accurate aMoSeRo map. I tried several slamming algorithms e.g. the hector_mapping package, but data has been to bad. So after reviewing nearly all my code, fixing a lot of unit issues and publishing rates, today the first map has been created, which really is a map of the place I am living!

Resistance to Odometry is futile

It sure is. But a good odometry in a robotic context is an objective that is hard to achieve.  For a robot like the aMoSeRo only two main velocities are relevant: linear and angular speed. Both do not occur on the same time, but still – correctly determining any of them is essential as most higher algorithms like slamming and planning highly depend on it. For me in a out of time running thesis, this task can be the biggest still kinda opened challenge.

All other system parts like gmapping, robot_pose_ekf, tf_broadcasts, sensor code, drivers, dynamic_reconfigure (insert long list of other important things here) are up and well enough running. Most of the thesis is written, only evaluation (experiments) and conclusion (the big round up in the end) is still missing.

Therefore I am really looking forward to a time after my thesis – full of well deserved sleep and a university degree 🙂

Screenshot24.09.2014

aMoSeRo – leaving the virtual cookie box

It is only consequent to leave the virtual cookie box too: