18 | The Future of Robotics Texas Instruments
Implementing a basic driver for the EVM (ti_mmwave_ rospkg),
we integrated the point-cloud information into the navigation
stack using the OctoMap and move_base libraries, as shown in
Figure 10.
We placed obstacles in an interior office environment and drove
the Turtlebot 2 through the area to build a 3D occupancy grid
map using the OctoMap library. Figure 11 is a screen shot of the
occupancy grid using RVIZ.
Figure 10: ROS library navigation stack used with the IWR1443BOOST-equipped Turtlebot 2.
Table 11: Generating an occupancy map using the OctoMap library in ROS.
We used the map generated from OctoMap with move_base,
inputting a final destination and pose position as shown by the
green arrow in the screen capture of Figure 12. The Turtlebot
2 successfully and efficiently navigated to the selected spot
and then rotated to the appropriate pose, avoiding obstacles
both staticly and dynamically in its path. This demonstrated
the efficacy of using a single forward-facing mmWave sensor
for basic autonomous robotic navigation quickly in the ROS
enviroment.
