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2D LIDAR and Camera D435i Fusion

I have a question about data fusion. Can I use the tf2 tool to fuse LIDAR and camera data ?
imen sirine's user avatar
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1 answer
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Which parameters should I modify in order to get a loopclouse using SLAM toolbox

I am testing the slam toolbox to generate a map, but with the default parameters using SYNC mode, I'm getting a bad loop closure map. Maybe because of the lack of information in this area (it is an ...
Sunart24's user avatar
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slam toolbox: how to use interactive markers to fix heading of posegraph

I have a rosbag with tf and scan topics. I am able to create the map and save the posegraph, but after calling the slam toolbox node with the posegraph as a parameter, I'm not able to use the ...
Sunart24's user avatar
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SLAM TOOLBOX: Moving Interactive markers chrashes the node

I am using the SLAM toolbox with O. I serialized a map that contains a big area; the map is about 7391 x 14586 mapped with a resolution of about 0.05. This size is because I started the mapping ...
Sunart24's user avatar
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SLAM Toolbox with hilly terreins

is it possible to map hilly terrains with SLAM Toolbox, 2D LiDAR, IMU and the odometry provider by the robot itself? Or do I need to search for another algorithm? Or for mapping 3D environments I need ...
Mattia Dutto's user avatar
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Rplidar A2 is not running on the humble version

I'm using Rplidar A2. I'm referring to the video in the link below. enter link description here If you run a command like this ...
user37765's user avatar
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1 answer
277 views

Is there a way to do a 3D map only with a 2D Lidar and IMU sensor in ros2?

I'm working in ros2 humble with a 2D lidar and an IMU sensor and I'm willing to do a 3D mapping with this things. I have already done a 2D mapping using RF2O pkg (that gives me an odometry only with ...
Thiago Blanco's user avatar
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1 answer
40 views

TF2 Static Transform publisher for rotated Lidar

HI All, I am a bit new to this. I have a robot with the scanner (RPLIDAR) located at the center of the the robot base, but it is rotated 90 degrees about axis z . What should I set the qw value for my ...
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2 answers
83 views

How to merge two LaserScans to one LaserScan with different frame_ids

Hello everbody, I have to implement a mobile robot which contains two lasers (sensor_1 and sensor_2). sensor_1 has the topic /scan_1 and sensor_2 has the topic /scan_2. The scans from my sensors ...
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1 answer
15 views

Simulating cleaning map in ROS

I am trying to simulate a roomba using ROS. For planning the path and to figure out what area to clean next, I would like to maintain a map where the known cells are the ones visited by the robot and ...
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1 answer
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Localization using IMU and LiDAR only

I am quite new to particle filters and other localization algorithms. For my project I am using an IMU and 2D LiDAR on a robot for indoor navigation. Is it possible to develop a new (or adapt existing ...
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3 answers
51 views

What does 'nan' mean in lidar's scan data?

Hello, I'm working with the ROS kinetic of Ubuntu 16.04. I'm also using Hokuyo's lidar sensor and recently realized that there are some strange data in the returned data of ...
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1 answer
49 views

getting lidar data as odom.?

Hello everyone.. With the laser_scan_matcher class, I can see the movements on the rviz screen with the lidar. Since I don't have encoder data, I want to navigate with lidar for now. I need odometry ...
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1 answer
15 views

Using a custom lidar in ROS

Hello, i have a lidar called Litra LTME-02A from China. However, i can not find any package to support this kind. Can you help me to connect this lidar with ROS ? Or are there any packages supporting ...
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1 answer
34 views

Getting laser scan intensity values from RVIZ

I'm trying to get intensity values being returned via the sensor_msgs/LaserScan message. I am using RViz to visualize this data and I found that the display RGB ...
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1 answer
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Problem with merging two lidars

Hi there, Can someone explain why this is happening? I am using the ira_laser_tools. NOTE: The L corresponds to the right as you see the robot in the picture and R to the left. ...
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1 answer
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Laser Scan rotates with the robot in RVIZ

Hello, I am currently working on developing a ROS application for autonomous navigation using AMCl. I am first trying to get move_base to work before continuing ...
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1 answer
257 views

Transform [sender=unknown_publisher] Unknown reason for transform failure

Hello, I have issue with my lidar. It doesn't show the data when the fixed frame is anything except its own laser_frame. I means, when I switch fixed frame to /odom or /base_footprint I do not see any ...
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1 answer
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Navigation without lidar

Hello. I am new to ROS and not sure exactly where this would fall under, so please bear in that in mind.. I am working on a differential drive robots project. We are using an off the shelf positioning ...
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1 answer
20 views

how to localize robot with lidar in ros melodic

I was using laser_scan_matcher and AMCL nodes together to locate my robot in ROS Kinetic. Unfortunately, ...
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1 answer
13 views

Usage of Falkolib for 2D lidar landmark extraction

Hi, I am using Falkolib for landmark extraction in a 2D environment. Currently I am using the testKeypointOC executable from the bin directory. I have changed the testKeypointOC.cpp file and the ...
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1 answer
71 views

RPLIDAR A2M8- Laser intensity values

Hi. I am subscribing to the Slamtech RPLIDAR'S intensity values but the values are either 0 or 47...I looked into the driver's code of the RPLIDAR in which the values of 0 and 47 are hard coded. I ...
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1 answer
69 views

Launching laser_scan_matcher and gmapping

Hi, So I have a simple question. When I'm building a map by launching gmapping node, so during the simulation (map building ongoing-process), is it possible to run laser_scan matcher node? What I want ...
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1 answer
32 views

Producing an X any Y coordinate from a Lidar sensor

The project I am working on needs to track a ball on a 10' by 10' platform. I need to produce coordinates with the 2d lidar sensor I have. The sensor I have available to me is a Sick TIM561. The ...
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1 answer
23 views

Rotate a 2d LiDAR to build 3D map

Hi, I'm using a husky robot for my navigation which already has 2d LMS Lidar and I'm able to implement 2D SLAM algorithm on that. Now, instead of having two 2d Lidar, I wanted to rotate 2d lidar and ...
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1 answer
29 views

Using multiple RPlidar on a single system

Hello, i would like to use two (or more) rplidars at the same time. When i start the second RPLIDARnode, the first one closes. I tried to find a connection to rosserial, but it seems rplidarnode ...
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1 answer
7 views

UTM-30LX not detected on /dev/ttyACM(*) by Ubuntu

I am trying to connect my UTM-30LX to ubuntu 16.04 running ROS kinetic using the urg_node. I have installed URG and I am following this tutorial http://wiki.ros.org/hokuyo_node/Tutorials/...
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1 answer
21 views

Error formating LaserScan to PointCloud

Hello, I am trying to covert LaserScan to PointCloud using laser_assembler. I am following the tutorials on the wiki.ros.org and I have also looked at others trying to achieve similar results as me in ...
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1 answer
5 views

2D map with stationary LIDAR

I'm trying to make a 2D map of a room. This is a project for learning ROS in the first place, so there's no robot involved. I just want to be able to make a map from either my laserscan data or pc2 ...
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1 answer
70 views

How to map with hector_mapping and just a Lidar

Hi, I just got a lidar (ydlidar x4), and would like to use it to map (just holding the lidar and raspberry pi myself and walk around the room without odometry)..I'm very new to ROS. I have read quite ...
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1 answer
93 views

rviz: how to change reference frame for camera view

Hello, In old version of rviz, there was an attribute 'target frame' in Global options, it sets the reference frame for camera view. For example, if my robot is moving, the camera view will also move ...
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1 answer
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Run slam without robot

Hi I want to run slam as robot but I don't have any robot now. I just only have lidar sensor. So I want to make a virtual map and run slam in a virtual map by moving virtual robot like this. https://...
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1 answer
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Laser reading not between range_min and range_max!

Hi, i'm trying to use nav2d package on turtlebot3 for autonomous exploration(third tutorial). When i launch it, everything seems to work, except for the fact that rqt_console shows the warning "...
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1 answer
9 views

nav2d exploration with turtlebot and lidar: no map available

Hey guys, we have a project at our university for a autonomous SLAM Turtlebot2 with a Lidar A2 Laserscanner by slamtec. We tried the nav2d_tutorials and the tutorial3 is our perfect setup. its working ...
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1 answer
11 views

Robot localization : needs a 4th sensor

Hello, I use robot localization with 3 input sensor: IMU - Wheel_odometry - GPS_odometry using a static map from google maps. But sometimes GPS isn't very accurate. I use 2D lidars for detection that ...
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1 answer
9 views

is it possible to use the existing drivers for the hls lfcd lds to communicate with an arduino

I want to bypass all of the turtlebots other components and just use its lidar module to talk with an arduino, I have taken a look on the support page and investigated the drivers, however im unsure ...
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1 answer
27 views

Using Turtlebot with basic DC motors

Im wondering if i can modify a Turtlebot3 burger to work with basic DC motors. Or at the very least i was wondering if i could use the HLS-LFCD2 lidar module with a standalone arduino board and DC ...
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