Week 11

Progress on the Issues

Incorporating SLAM

• Last week’s progress on Incorporating SLAM can be seen in the Week 10 blog — SLAM
• Achieved further understanding in the Pose graph optimization blog

Problem: Erroneous map built by SLAM

Solution: Increased the max range of laser scanner to 15m in the urdf (amazon_robot_description/urdf/amazon_robot_xacro_generated.urdf) and stl (amazon_robot_gazebo/models/amazon_robot2/model.sdf) files

Solved!

Demonstration

Demo of Waypoint mode Navigation in Amazon Warehouse Single Robot Exercise (with SLAM Toolbox)