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Kevin Ochs
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99 followers
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Here is a video of my hexapod robot running ROS visualized in Rviz. This is a simple test of the 3D and 2D mapping using RTAB-Map a RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. I am thoroughly enjoying ROS, it is an amazing framework to work in. #ROS   

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A quick video of my hexapod doing 3D/2D mapping using the RTABmap package.

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3D mapping on my robot via ROS and RTABmap. #ROS   #Robot   #robotics  
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So enjoying working within ROS. I find it remarkably easy to get things working. Below is a screen shot of ROS with a prime sense sensor visualized with pointCloud2 and depth_to_laserscan package converting a slice in order to easily use the slam and navigation packages. My robot model was easily brought in from selective exports from Autodesk Inventor. Here is a quick video of the actual robot from a previous test. https://www.youtube.com/watch?v=IP-1HebkZnU 
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I wanted to show my "in progress" ROS robot. This is a simple test of using the IMU messages to auto level the body. It has a custom hexapod locomotion stack that accepts a normal base_link TF that is converted to move the legs. It has 9 dof IMU, Prime Sense sensor for depth, Point Grey camera for vision and a onboard Intel NUC D54250 motherboard that consists of a Intel 4th Gen i5 processor 8 Gig of RAM and a 120 Gig SSD, Wifi and Bluetooth for communication to a second computer. Running Indigo Igloo distribution. Navigation stack work is still in progress.
Cheers,
Kevin
#robotics   #ROS   #hexapod  

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I wanted to show my "in progress" ROS robot. This is a simple test of using the IMU messages to auto level the body. It has a custom hexapod locomotion stack that accepts a normal base_link TF that is converted to move the legs. It has 9 dof IMU, Prime Sense sensor for depth, Point Grey camera for vision and a onboard Intel NUC D54250 motherboard that consists of a Intel 4th Gen i5 processor 8 Gig of RAM and a 120 Gig SSD, Wifi and Bluetooth for communication to a second computer. Running Indigo Igloo distribution. Navigation stack work is still in progress.
Cheers,
Kevin
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