Sensors and Sensor Fusion

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prerequisites
intermediate Git • XML • YAML • basic ROS 2 • intermediate Python • Linux basics (installing and building software, working with command line tools, shell basics, working with multiple terminals) • math (translations, rotations, coordinate systems, linear algebra) • probability theory
skills learned
basics of sensors (encoders, IMUs, LiDARs, ultrasonic sensors) • URDF/XACRO • create a robot description • simulate sensors • sensor fusion
Mateusz Sadowski
1 week · 6-8 hours per week · INTERMEDIATE
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Look inside

You’re a programmer at the RoboPrototypes company, and its “dribot”—a prototype of a robot that will serve drinks to customers at a food court—has been running into things (including the CEO’s shin). Using Gazebo 11 and RVIZ2, you’ll add LiDAR (light detection and ranging) and IMU (Inertial Measurement Units) sensors that will provide a view of the environment from the robot’s perspective. To make the most out of the sensor data, you’ll fuse information from multiple sensor sources to better estimate where the robot is in the world.

The version of Gazebo used in this project reached end of life in January 2025.

This project is designed for learning purposes and is not a complete, production-ready application or solution.

project author

Mat Sadowski

Mat Sadowski is a robotics consultant with eight years of experience in the industry. He has experience working with over thirty worldwide clients on such platforms as mobile robots, unmanned boats, industrial robots, and even lawnmowers. In his spare time, Mat is developing the robotics newsletter Weekly Robotics. You can get up to date on his work by following him on LinkedIn or by following his blog.

prerequisites

This liveProject is for programmers interested in learning about integrating sensors on robotics systems. To follow this liveProject you’ll need a computer running Ubuntu 22.04 capable of running Gazebo and be familiar with the following:

TOOLS
  • Git
  • XML
  • YAML
  • ROS 2
  • Python
TECHNIQUES
  • Linux basics (installing and building software, working with command line tools, shell basics, working with multiple terminals)
  • Math (translations, rotations, coordinate systems, linear algebra)
  • Probability theory

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