Questions tagged [laser]
LASER (Light Amplification by Stimulated Emission of Radiation) is an optical device, which emits monochromatic, directional, and coherent light beam (laser light). Commonly used in distance measuring devices such as LIDAR.
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Dispersion of object edges in lidar point cloud
I'm having an issue with some spurious points appearing in the point clouds coming from my 3D lidar.
More specifically, I'm working with an RS-Bpearl lidar, and the point clouds that I receive from it ...
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3D LiDAR Data Inconsistency and Costmap Performance Optimization
I hope this message finds you well. I am currently engaged in a project utilizing a non-repetitive 3D LiDAR system, characterized by a Vertical Field of View (VFOV) of 52° to -7° and a Horizontal ...
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Lidar/laser scan moves when the bot is moving while generating map
I have been trying to generate a map using lidar/laser scan data in my 4_wheel_bot with the help of slam_gmapping package. When i start the simulation the output of the terminal shows "...
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How can I derive a metric comparing two 2D laser scans quantitatively, WITHOUT using any scan matching techniques?
TLDR version: I have two laser scans taken at the same pose that align nearly completely (see image). I want to come up with a metric that can quantify how well one did as opposed to the other.
Longer ...
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Why does the laser cut through walls? ray_plugin
I have build a robot with a urdf to visualize in gazebo. After some struggle being new to gazebo I got it working. I then decided to make a video series for myself and others on how I did it.
Sadly ...
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How do I implement accurate distance measuring to ground on a rover?
I need the end effector to always be at a fixed distance from the ground, I need that the end effector is as close as possible to the ground, the closer the better.
Given this proximity I need to know ...
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Nav2 makes obstacles where there are none
I'm using Jammy and Humble and Nav2. The robot is beginning to do waypoint following and driving on his own. However, sometimes the Nav2 program is making black dots, as obstacles, appear where there ...
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Object racking on conveyor belt using low cost Lidar or similar non-camera options
The requirement is that movement of products right from the start to end of the conveyor belt (of length around 2.5 m) need to be tracked. The same can be easily done using any IP Camera and OpenCV ...
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Lookup would require extrapolation into the future on the same machine
I get this error when trying to view my RPLidar A2 scan in rviz2. It’s on a differential drive robot controlled using arduino using Articulated Robotics’ code that I quickly ported to Humble, ...
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Costmap doesn't consider laser beams behind the robot (only when the laser frame is flipped upside down)
Hello everyone,
I'm currently implementing the navstack on my robot and I have a problem with the generation of my costmaps : I use the obstacle layer plugin to make dynamic obstacles from the LiDAR ...
thomzem
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Lidar - What is the difference between the /scan and PointCloud?
I watched a tutorial for converting laser scan data to point cloud.
But I could not understand how this conversion works.
What is the difference between the scan and point-cloud data and what are ...
kiru
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Is there regulation of LiDAR in the public space?
Are there any regulations (in the US or the EU), plans to regulate or initiatives that think about the "pollution" with or amounts of laser emission in urban spaces in general and the impact ...
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How to visualize the laser scan data as a local/global map?
Hi, my robot in ros melodic has a lidar and I want to visualize the laser scan data.
Previously I used the local_costmap, but since it became more complicated and now it consists not only of the laser ...
ymag
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Laser Scanner Rotation when the robot is moving
Hello there everyone,
I am running into an issue with the navigation stack with move base and AMCL in ROS.
The issue is, every time the robot rotates by a certain degree, the laser also rotates and ...
Ciprian
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394
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What robotic simulators simulate the reflectivity of objects?
I want to simulate the reflectivity of objects in a simulation because I want to use a 2D laser scanner to detect certain objects that have higher reflectivity than other objects in a particular scene....
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Mapping by gmapping isn't correct
Hi, I'm doing the mapping process by gmapping. At the beginning, my robot can recognize a wall very well, but when i spin the robot and face into empty space, it suddenly appears a line on the map in ...
Kevin1719
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Using multiple laser scans for gmapping
Hi, I'm trying to do the SLAM mapping with gmapping on my robot, which has 2 lasers on it, in the font and in the back of the robot. So how can I use 2 laser scans for gmapping, since gmapping only ...
Kevin1719
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How to detect loop closures in 2D laser SLAM?
I am trying to build an occupancy grid map using odometry and 2D lidar data through graph optimization. I am not aware of any reliable loop closing methods using only the 2D laser scans. I have been ...
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Converting x, y, z array to point cloud data
Hello ROS developers,
I am trying to convert a2D array to a point cloud value and publish it thereby visualising it in rviz. Can anyone guide me to solve the below issue which I am facing during the ...
Vignesh_93
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Trouble aligning/calibrating camera with laser scanner
I have a robot which has 2 multi-spectral cameras and 1 laser scanner attached. In the end I would like to have the images from the cameras aligned with the scanner so that I can have spectral ...
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Who publishes the map frame?
ROS Melodic, Ubuntu18, Gazebo9
Issue:
Not able to visualize laser scan data in rviz
Error:
No tf data. Actual error: Fixed Frame [map] does not exist
Steps to recreate:
Launch gazebo with ros
...
pravardhan
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How to get ira_laser_tools laserscan_multi_merger to subscribe to laser scans?
I'm using the laserscan_multi_merger node from the ira_laser_tools package to combine 2 laser scans. I have demonstrated this ...
Py
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Call clear costmap service periodically
Hello.
I have the ROS navigation package on Kinetic with a Realsense camera. I am transforming the depth image of the camera to laser scan, and then with that laser scan generate obstacles with the ...
Alessandro Melino
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Clear obstacles of obstacle layer of costmap
Hello everyone.
I have a Realsense D435 camera on my application, and I use its depth_image to generate a laser scan topic with the package depthimage_to_laserscan. This works allright.
The problem I ...
Alessandro Melino
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Laser scan topic returns many messages
I am using a very simple subscription to a /scan topic to get the laser distances that my hokuyo laser scanner has grabbed, using:
...
John999991
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No SICK TiM devices connected! sick_tim320?
i use melodic, i try to connect sick tim_320 but i have some problem
[ERROR] [1578729117.004873938]: No SICK TiM devices connected!
[FATAL] [1578729117.004962667]: Failed to init device: 1
[ERROR] [...
trantu080798
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laser_scan_matcher building problem
Basically I'm trying to get laser scanner data in world coordinates. I would like to make it possible to get the whole point cloud data with subscriber node from python code to work on it (I'm making ...
asbird
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Understanding the SICK S300 RS422 data output
I'm using a SICK S300 safety scanner connected via RS422 -> USB and I'm trying to decode the lines of data into meaningful values, however looking at the data compared to the Telegram Listing it seems ...
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Error: For frame [Laser]: Frame does not exist
Hi!,
I am trying to build a map using roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping on a turtlebot3. Unfortunately I have issues with the ...
vincent_m
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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 ...
Vladith
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Hector Mapping PointCloud2 Map
Good day everyone.
I am using Ubuntu 18.04 with RO Melodic.
Currently i am using hector mapping to obtain a map and view it in RVIZ. It subscribed to laser scan type topic and published an ...
KinWah
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Reading data from the shifted laser, as if it was in the middle
I have algorithms that use raw data from laser [-pi/2;pi/2]. Earlier, the laser was in the middle of the robot. Now it has been moved closer to the left front edge and rotated by pi/4.
What is the ...
grzegorz.f-16
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What wavelengths are most commonly used in laser-scanners and LIDAR systems?
In Photography SE I've just asked LIDAR burnout; ways to check for damaging infrared lasers before shooting besides looking for posted warnings? and discussed a camera that was damaged by a self-...
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Gazebo Hokuyo laser not working properly
Hi all,
I´m trying to run some mapping experiments with a mobile robot on a Ubuntu 16.04 machine with ROS Kinetic and Gazebo 7.
What I did was to define a diff-drive with the following urdf:
https://...
JoseJaramillo
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1
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How can I modify the Laser angle scan?
I have an RPLidar and from its documentation, the laser can do 360 degrees. The thing is, I do not need full 360 degrees as some area will constantly block the laser sensors. So basically, I only need ...
stevemartin
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1
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No laser scan received
Hello,
I know this question has been asked many times for single robot but i cannot figure it out for my multi-robot-system.
Please Note: It is perfectly working for a single robot. But it is giving ...
RoboRos
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5
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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/...
wmr
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1
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5
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Create Restrict Area on /Map
Hello,
I want to create restriction area for path planning. Robot mustn't go restriction area that user's indicated. In additional map mustn't include obstacle that not sensor's seems. Is it possible ?...
Onur
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167
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Object detection using ToF sensor
I am making an indoor robot and in order to detect static and dynamic objects I have decided to go with ST VL53L1X ToF proximity sensor, here is the link:
https://www.st.com/en/imaging-and-photonics-...
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The source of topics in someone else's package
I'm going through this package, and in particular this file in which I found three topics whose "source packages" and meaning are unknown to me:
...
MTDzi
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Configuring turtlebot3_slam_gmapping
Is there a way to unsubscribing the turtlebot3_slam_gmapping node from the topic /scan and in place of that, subscribing turtlebot3_slamp_gmapping to a topic published by /scan_to_scan_filter_chain ? ...
sujeet
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Convert pointcloud 3d point to image pixel
Hello there. I have a rosbag that contains a camera footage topic (sensor_msgs/Image) of a room and a laserscan topic of the same room. I also have a program that converts this laserscan to a ...
rbsb
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2
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Minimum distance from laser scanner data
I have been trying to get the minimum distance from laser scan data. My code is as follows:
Here, "msg" is the "const sensor_msgs::LaserScan::ConstPtr &msg" from the callback.
...
fabritya
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Actuators used with 2d laser scanners to produce 3D images on ROS
Hi,
The acquisition of 3D LIDAR is mainly based on the rotation of the 2D laser scanner around a certain axis. I mean a standard 2D laser scanner and mechanical rotational element are required for 3D ...
Mekateng
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1
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sharp ir sensor
i add 8 sharp ir into my robot, how to see in my rviz, and how to add tf for ir laser. my main laser is hokuyo ust 10lx. help me please. thank you
Originally posted by zucky on ROS Answers with karma:...
zucky
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laser scan topic
i install ros indigo desktop full and Turtlebot2 Ubuntu Package .
when i do $rostopic list i cant find /laser/scan topic .
there'...
EGYRos
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1
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3
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Invert rviz scan screen 180 degrees
Hi,
I reversed a 2d laser scanner that rotated 360 degrees through a servo motor. Because I turn it backwards, there is a reverse image on the Rviz platform. that is, the ceiling looks like a base, ...
Mekateng
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1
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3
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Publish LaserScan from Arduino
Hello,
I am using an arduino Mega to publish LaserScan message. But I have a weird result, when i run this code:
...
mattMGN
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2
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transformation the laser scan data with robot pose?
hello guys, I want to simulate the bag data that I got from ROS in MATLAB. I separated the pose and range data from the bag file. and I wrote a script to plot the laser data and build a map (I assumed ...
fereydoon
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2
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370
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Laser Scanner for localization in particle filter
I'm working on a particle filter implementation in Matlab and I found one very good in the Robotics Toolbox (available here https://github.com/petercorke/robotics-toolbox-matlab). My problem is that I ...
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