This post describes the process of integrating Ouster OS-1 lidar data with Google Cartographer to generate 2D and 3D maps of an environment. Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. SLAM algorithms combine data from various sensors (e.g. LIDAR, IMU, […]
This post describes the development of a ROS node that can be used to process images from an OpenMV Cam in a ROS-based robotics system. The goal of the OpenMV Cam project was to create a low-cost, extensible, Python powered, machine vision module to become the “Arduino of Machine Vision“. The OpenMV team wanted to […]
Docker is an open platform for developing, shipping, and running applications with containers that enables you to separate your applications from your infrastructure. Docker provides the ability to package and run an application in a loosely isolated environment called a container. The container provides a standardized environment for development. This means that we can distribute […]
This post details the process of integrating the Travis-CI tool with the Ouster ROS package. Continuous Integration (CI) is a software development practice where developers integrate code into a shared repository. Each integration can then be verified by an automated build and automated tests. This automated testing allows you to quickly detect errors and locate […]
In this post, we will adapt OSRF’s car_demo and citysim packages to simulate a Toyota Prius driving around a simulated city environment with an OS-1-64 lidar sensor. During ROSCon 2017, Ian Chen and Carlos Aguero gave a presentation entitled, “Vehicle and city simulation with Gazebo and ROS” (slides here). They developed a URDF model of […]
In this post, we will model and simulate an Ouster OS-1-64 in Gazebo, ROS’s simulation environment. Simulating the sensor in Gazebo allows users to experiment with the OS-1 sensor without needing to purchase the physical unit. Users can determine the ideal placement and orientation of the sensor for their specific application and evaluate the sensor’s […]
This post follows the DRS120 Kit & Additional Components and DRS120 Hardware & Electronics Assembly posts. This post describes the steps necessary to install Cleanflight Configurator, flash the Betaflight firmware, and configure the flight controller software before operating the quadrotor. DRS120 Flight Controller Configuration After assembling the DRS120 FPV quadrotor, the next step is to […]
This post follows the post DRS120 Kit & Additional Components and describes the process for assembling the frame, installing the motors, flight controller, propellers, and FPV camera, as well as connecting the electronics. DRS120 Construction Once the complete list of parts is purchased and available, it is now time to assemble the quadrotor. The first […]
This post documents the components in a DRS120 quadrotor kit as well as some required additional components sold separately. This micro quadrotor is intended to be used for First Person View (FPV) flight. It’s small size makes it easy to transport, maneuverable indoors, and the quadrotor is not currently required to be registered with the […]