Can Create3 feed SLAM and Nav2 data needs? #461
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How are you connecting to your Create 3?USB Ethernet (ROS 2) Computer(s) Model(s) and Operating System(s)Raspberry Pi 5 Which version of ROS 2 is installed on your computer?Humble Which firmware version is installed on your robot?(Latest Humble) Which RMW is your robot running?I don't know Does your robot have an assigned namespace? If so, please share.No response Is the robot connected to a network? If so, what is the network type?Yes; home network Are there multiple Create 3 robots connected to your network?No Is multicast enabled?None What is the Adapter Board's USB/BLE Toggle currently switched to?None Describe your question.I am considering the Create3 as a base with Pi5 running SLAM-Toolbox for mapping, then SLAM-Toolbox for localization and Nav2 for navigation and behavior control. (Pi5 attached LIDAR and a no-imu Oak-D-Lite) The ROSCON23 talk on creating the Create3 and challenges suggests issues when total topic flow approaches 100Hz. I have seen comments that the Create3 IMU topic was increased to 100Hz, so I am wondering if to expect issues getting odom and imu topic bandwidth to feed the mapping, localization, and navigation running on the Pi5. The "Donut Delivery" mapping and navigation video ClearPath put out long ago, was very encouraging but I have not seen any user videos to indicate this can be replicated by ROS neophytes. |
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Found a non-Clearpath TB4lite video doing off-board nav2, so that appears to confirm the Create3 can support the topic rates needed for slam-toolbox localization and Nav2 |
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Found a non-Clearpath TB4lite video doing off-board nav2, so that appears to confirm the Create3 can support the topic rates needed for slam-toolbox localization and Nav2
https://youtu.be/y_PgLx81DEg?si=ZPa_rB3EVW_3Fr-j