A ROS based package implementation for Nao v5 robot to create a polar map of its surroundings using its sonars in C++. Check code in order to change angle of rotation or motion speed.
Red dots denote the estimated object's location, while the circle around it denotes the area in which is its actual position.
You need to have installed :
- ROS ( with a catkin environment )
- naoqi_driver package
Has been tested for ros-kinetic.
After you downloaded the package, move it in your catkin workspace and :
$ cd ~/catkin_ws
$ catkin_make
To run the package first run naoqi_driver in one terminal. Then in another terminal :
$ roslaunch sonar_package sonar_map.launch