Note for other readers: 6dof = '6 degrees of freedom' movement - forward / backwards, up / down and left / right.
Your project reminds me of a robot for retail shop floors called Tally that uses RealSense in combination with Lidar sensors to navigate stores and interact with its stock. It is part of Intel's new Responsive Retail Platform $100 million initiative.
Another source of inspiration may be the robot panda called Bamboo that Microsoft created with Windows 10 IoT Core (an IoT-specialized version of Windows 10), an Intel Joule compute unit and RealSense. The camera model isn't mentioned but if it's used with Joule then it's almost certainly a ZR300.
Finally, here's a video of a Turtlebot demo from the Intel IDF 16 conference that uses Joule and RealSense.
The rest of your questions are outside of my knowledge-base about robotics and the ZR300, sadly. I just wanted to pitch in this small contribution though. Good luck!
This message was posted on behalf of Intel Corporation1 of 1 people found this helpful
Thank you for your interest in the Intel® RealSense™ Technology.
I understand that you want to make sure that the ROS Navigation Stack Implementation is compatible with the RealSense ZR300 (along with the AMCL and SLAM implementations). And you also want to know if there is more information regarding the Path planning for Intel RealSense SLAM library.
I’ll be needing more time to come up with information that you may find relevant. As soon as I have the corresponding information I’ll contact you through this post.
Thank you for your patience.
I'm trying to make this work as well. Since the ZR300 puts out a map and cost map seems to me you could use that as input to the ROS path planner. Waiting on a camera so I can't test it yet but that is the way I'm going to try to make it work. Use Intel Slam as a map server and link it into ROS that way. ZR300 also provides the odom stream as well. A diagram of how Intel Slam fits into ROS would be awesome.
This message was posted on behalf of Intel Corporation
I have to inform you that, currently, the realsense_ros_slam is a demonstration code that illustrates how to use Intel's RealSense SLAM by itself. That means that it hasn’t been tested as part of a larger ROS mapping and navigation stack such as AMCL.
I would like you to know that work to support the navigation stack is in Intel's backlog, but has not yet started with any commit date.
Intel would like you to remember that any open source community member that wants to contribute with pull requests or submissions is welcomed to visit http://github.com/IntelRealSense/realsense_samples_ros.
Have a nice day.