ArduPilotとCartographer SLAM で屋内自律走行 Implementing Cartographer SLAM with ArduPilot and Jetson ( ROS )

ArduPilotで屋内用の自律走行ロボットを作れないか考えていたところ、公式ドキュメントにCartographer SLAMの実装方法が載っていたため早速お試し。
あまりネットに資料がないためほぼ手探りで試行錯誤し、何とか実機作成までたどり着きました。
将来的にはCuGoへ換装して倉庫内の運搬ロボットにでも改造したいなー、なんて。
【Cartographer SLAM実装に関するArduPilot公式ドキュメント】
ardupilot.org/dev/docs/ros-ca...
＝＝BGM＆SEに使用した曲について＝＝
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[@aswath1406]

I have rolidar A2 m12 . Its spinning but not working. Please help me to solve this. I have been struggling to solve this for months.i have correctly given voltage and ground also

[@spreadknowledge]

動画ではJetson Xavier NXを使用していましたが、Jetson NanoやTX2でも動くので是非お試しあれー

[@azipsify]

It's a great video. I have a question.
1. Did the cartographer run first before running the robot manual?
2. Is it self-driving without a separate command for jetson after mapping?
3. Can I use the cartographer map next time without saving it on the jetson board?

[@spreadknowledge]

Thanks for watching!
1. Yes, you right. I started Cartographer first and then sent the self-location information from Jetson to Pixhawk.
2. Yes, we automatically ran ROS and RPLiDAR, Cartographer, and Mavros after starting Jetson, and all subsequent operations were performed by the MissionPlanner application. In this experiment, I did not perform any operations on Jetson (Carotgrapher) other than turning it on. It's very easy.
3It cannot be achieved simply by implementing it as described in the ArduPilot CartographerSLAM setup manual. I also would like to see that functionality.

[@hanifwistijulitama5399]

what ubuntu are you using?

[@spreadknowledge]

I used Ubuntu18.04(JetPack4.4.1) and ROS1 Melodic in that time. But it's time to change to Ubuntu 20.04 and ROS2.

[@manavgandhi17]

RPLIDAR A2 or A3?

[@spreadknowledge]

I used RPLiDAR A2 in this video. The official ArduPilot documentation instructed me to use an A2M8, but maybe an A3 would work!