PML Test 3

PML obstacle avoidance in ROS alongside a 3D model of Pi Robot in RViz. (And a feline observer to make sure the data are accurate.) PML stands for "Poor Man's Lidar" and uses an inexpensive infrared ranger (in this case, the Sharp GP2Y0A02YK) on a panning servo to crudely approximate the use of a laser range finder. In this video, the IR sensor is polled 30 times per sweep which takes 1 second in each direction. Objects detected by the IR sensor are marked by the orange squares. ROS then places red and grey squares around this location to indicate the presence of an obstacle. The ROS Navigation software then plans a course around such obstacles to move the robot to the goal location specified by the operator using the mouse. The servo and IR sensor are being controlled by the ArobotiX controller made by Vanadium Labs.

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