looking for robot path planning implementation using ZR300. Suggestions?

[BKatz1]

Hi Developers,

I am in my plan step to build robotic assistant using Turtlebot as a mobile link and real sense zr300 as camera link.

The plan is to create a robot which will be able to autonomically map a room and to use it to navigate the room when getting a target point (x,y) on the map.

I also desire the robot will "know" to avoid obstacles during it's navigation from point A to point B.

From reading Intel realSense SLAM Developer Guide I understood that ZR300 provide 2D pose and map as an Output. It also has the ability to make localization pinpoint the robot on the map and make Relocalization to correct the drift in the 6doF.

To get this outputs i will use the next API's :

1) http://wiki.ros.org/action/fullsearch/realsense_camera?action=fullsearch&context=180&value=linkto:%22realsense_camera%22 realsense_camera - ROS Wiki

2) https://github.com/IntelRealSense/realsense_samples_ros/tree/master/realsense_ros_slam realsense_samples_ros/realsense_ros_slam at master · IntelRealSense/realsense_samples_ros · GitHub

Now we got to the path planning step...

Hasn't found much information about it . I found 2 implementations to perform path planning and recovery behaviors:

1) https://github.com/pancx/pathplanning/tree/master/pic pathplanning/pic at master · pancx/pathplanning · GitHub .

I see it is a new commit which was not published in the official RealSense GitHub page.

2) http://wiki.ros.org/action/fullsearch/navigation?action=fullsearch&context=180&value=linkto:%22navigation%22 ROS navigation stack which uses http://wiki.ros.org/action/fullsearch/move_base?action=fullsearch&context=180&value=linkto:%22move_base%22 move_base .

1) Do you suggest to use the Ros Navigation stacImplementation? ? Will this module be the right choice to use it with ZR300 when Relocalization (AMCL) and SLAM is done internally inside the RealSense camera?

2) Does anyone tried using the https://github.com/pancx/pathplanning/tree/master/pic pathplanning/pic at master · pancx/pathplanning · GitHub . ?

3) Do you have other suggestions? implementations? links to a source code?

Thanks !

[MartyG]

Note for other readers: 6dof = '6 degrees of freedom' movement - forward / backwards, up / down and left / right.

Your project reminds me of a robot for retail shop floors called Tally that uses RealSense in combination with Lidar sensors to navigate stores and interact with its stock. It is part of Intel's new Responsive Retail Platform $100 million initiative.

Another source of inspiration may be the robot panda called Bamboo that Microsoft created with Windows 10 IoT Core (an IoT-specialized version of Windows 10), an Intel Joule compute unit and RealSense. The camera model isn't mentioned but if it's used with Joule then it's almost certainly a ZR300.

https://github.com/Microsoft/bamboo-demo GitHub - Microsoft/bamboo-demo: A robot panda built around the Intel Joule using Windows 10 IoT Core and an EZ-Robot con…

Finally, here's a video of a Turtlebot demo from the Intel IDF 16 conference that uses Joule and RealSense.

https://www.youtube.com/watch?v=l_RUjLHzeyU Turtlebot Demo for IDF '16 - YouTube

The rest of your questions are outside of my knowledge-base about robotics and the ZR300, sadly. I just wanted to pitch in this small contribution though. Good luck!

[idata]

Hello RoBoris,

Thank you for your interest in the Intel® RealSense™ Technology.I understand that you want to make sure that the ROS Navigation Stack Implementation is compatible with the RealSense ZR300 (along with the AMCL and SLAM implementations). And you also want to know if there is more information regarding the Path planning for Intel RealSense SLAM library.I'll be needing more time to come up with information that you may find relevant. As soon as I have the corresponding information I'll contact you through this post.Thank you for your patience.Regards,Andres V.

[DPoll]

I'm trying to make this work as well. Since the ZR300 puts out a map and cost map seems to me you could use that as input to the ROS path planner. Waiting on a camera so I can't test it yet but that is the way I'm going to try to make it work. Use Intel Slam as a map server and link it into ROS that way. ZR300 also provides the odom stream as well. A diagram of how Intel Slam fits into ROS would be awesome.

[idata]

Hello RoBoris,

I have to inform you that, currently, the realsense_ros_slam is a demonstration code that illustrates how to use Intel's RealSense SLAM by itself. That means that it hasn't been tested as part of a larger ROS mapping and navigation stack such as AMCL. I would like you to know that work to support the navigation stack is in Intel's backlog, but has not yet started with any commit date. Intel would like you to remember that any open source community member that wants to contribute with pull requests or submissions is welcomed to visit http://github.com/IntelRealSense/realsense_samples_ros.Have a nice day.Regards,Andres V.