User guided 2D and 3D mapping and exploration with a roomba and skype

The video shows a mobile robot (Roomba) with a 2D laser scanner (LMS 100) and a laptop. The roomba is remote controlled via ROS, skype and a special skype plugin which ensures connections through NAT routers. The laptop is runing Ubuntu and the control computer windows 7. The plugin includes a control gui and a 2D mapper (karto). The user acquires 3D scans at certain positions. A virtual 2D scan is computed out of the 3D scan and transfered to the user. Combined 3D scans can be viewed after the operation.

Category:

Science & Technology

Tags:

• skype
• mobile robots
• 3d laser scanner
• SLAM
• teleoperation