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Questions tagged [laserscan]

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Identifying Gazebo objects with a GpuRaySensor

I want to identify objects within a laser scan provided by Gazebo with the aim of obtaining point-wise ground truth data. Using the gazebo::sensors::RaySensor, I ...
labude's user avatar
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2 answers
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Where is the preffered position to put a simple control loop in a ROS2 Node (C++) for obstacle avoidance

I am working on a turtlebot simulation with ROS2, and I would like the robot to stop when it hits a wall. Where is the proper place to implement simple logic (for example, if distance < 10 then ...
p1unge's user avatar
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2 answers
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Mapping not working in gazebo, /scan messages published on wrong topic

I am pretty new to gazebo and am currently trying to simulate my physical robot. I have already created a world and am now trying to create a map for it. I am using this repository for all the launch ...
DJ1NN's user avatar
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How to publish three ultrasonic located at 90 degrees in sensors data into sensor_msgs::LaserScan

How can I make the data consistently located at 90 degrees to each other + one degree step in RVIZ? My task is to organize ultrasonic SLAM and for this I took three sensors located at 90 degrees and ...
Neimes's user avatar
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Knowing whether the robot is delocalised or not by observing relevant data

The way that we know if a robot is delocalised is by opening RViz and observing the laser's scan data with respect to the static map on the ...
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Amigobot AMCL does not work when namespace is used, no laser scan is recieved

I am using the amigobot and the rosaria library to communicate with the robot. Typically, I lauch the rosaria, publush_tf, and rplidar node and on my computer the amcl_diff_corrected and the ...
Michalis's user avatar
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1 answer
212 views

ROS-Tf-Message too old

an external localization package is performing localization between the map and base_link frames. There is a lidar attached to the laser frame, which is connected to the base_link, and it is also ...
aoz_rob's user avatar
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Unable to localize multi robot due to amcl not receiving scan data

Hello guys i am working on multi robot. All works well. I am able to get topics for different robot for their namespaces . I am also able to echo the scan topics , provide the map by the map-server ...
Davies Ogunsina's user avatar
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1 answer
81 views

Use both point cloud and laserscan with navigation stack

Good Day, I have a depthimage camera with associated ros package to generate point cloud data on my/points topic and an Rplidar that generates laserscan data on the/scan topic. I have the nav stack ...
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2 answers
25 views

How to add filter to pointcloud_to_laserscan package and depthimage_to_laserscan package

I need to add filters to my pointcloud and depthimage data before converting them to ...
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1 answer
4 views

[python] output of a code be called in another python code automatically

Hi everyone, I have a robot equipped with different sensors. one of them is 3d lidar. i have used the pointcloud and converted them into lasersacn. now i have written a simple python code which do ...
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1 answer
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(python) how to save ranges of laser scan related to each time stamp?

hi I have a python problem. I want to save the output of msg.ranges in a csv file. actually i want to have a csv file that in the first column time stamp are saved, and in the second column ranges. i ...
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3 answers
139 views

extracting values from laser scan data!

Hi, I have three objects in front of my robot. I want to specify distance to these objects. i have converted pointcloud into laser scan. now i want to extract the least values from the laser scan data....
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1 answer
30 views

Can odometry be calculated with LaserScan alone?

I am building a robot and implementing autonomous navigation using gmapping, amcl, and move_base. From my understanding the amcl package compares the map to lidar data (sensor_msgs/LaserScan) to ...
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1 answer
23 views

how to eliminate robot's parts from lidar data?

I have turtlebot3 waffle model and lidar in the center. And I have four vertical rods around lidar And I have laser data about them. you see, there is 4 points that indicates these 4 rods. So, how ...
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1 answer
23 views

How should I interpret the sensor_msgs/LaserScan.angle_min?

Hello, I am using the RPLidar A2 on my ROSbot 2.0 for environment detection. I am currently trying to implement a side-distance measurer that measures the distance of four sides, let's say NORTH, EAST,...
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1 answer
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which sensor will give out the MultiEchoLaserScan sensor msgs? Which brand and which type?

The backpack demo_2d cartographer uses MultiEchoLaserScan Message for Lidar data. I wanna know that which sensor is giving out this kind of data? I want to have this configuration for large area ...
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2 answers
9 views

Why cannot launch node of type [laser_geometry/laser_geometry]

I need to transfer from sensor_msgs::LaserScan to sensor_msgs::PointCloud2. I found laser_geometry package, (http://wiki.ros.org/...
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1 answer
11 views

Use ira_laser_tools to fuse the rplidar A2 and Kinect laser scan,but the output of the merger is only kinect's data

I have a rpidar A2 and a Kinect camera,i use the ira_laser_tools to fuse the laser scan from the rplidar and kinect ,then use the merge data to bulid a 2d grid map ...
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1 answer
73 views

Explanation on sensor_msgs/LaserScan and time

Hi everyone ! I am currently working on LaserScan messages and I don't quite understand how time related attributes should be filled. If I look at the documentation : ...
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1 answer
43 views

Rviz receives LaserScan messages but doesn't display them

Hi there I made a dummy package that is publishing fake laser scan messages (following this code: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors#...
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3 answers
13 views

PointCloud To LaserScan

Hello. I'm new to ros.I set my scene in VREP and got my robot using kinect. I'm trying to create a map of the environment, but for this I need to convert the data from pointcloud to laserscan, but I ...
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1 answer
4 views

LaserScan from bag causing Error: "Lookup would require extrapolation into the past."

Hello, I am trying to convert a LaserScan message from a bag. On my header file, I have the following: ...
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0 votes
1 answer
5 views

managing clockwise laserscan

Hello ROS community, I'm an hobbist, ROS enthusiast and this is my first question on this community. I've successfully created a small lidar equipment(based on VL53L0X sensor + ESP8266 +stepper motor, ...
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1 answer
8 views

Providing PointCloud2 data from ZED camera

I am trying to run a program that requires PointCloud2 data using only the ZED camera, no LASER. Depthcloud to Laserscan is said to work well with ZED, so could I combine this with the Laserscan to ...
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0 votes
1 answer
8 views

laserscan to pointcloud timestamp issue

Dear all, I want to convert laserscans (sick lms511) to pointcloud2. I have found a topic on how to perform this conversion here : https://answers.ros.org/question/11232/how-to-turn-laser-scan-to-...
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1 answer
1 view

Error on creating LaserScan message using Sonar data

I am trying to create a laserscan using Sonar Sensor but I got an error launching the file. ...
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1 answer
17 views

How to get the closest obstacle with rotating laser using pointcloud

Hi, The following code allows a rotating laser scanner to detect the object closest to itself using the LaserScan(scan topic) message.But ı want to this using pointcloud . How can I do this? How do we ...
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0 votes
1 answer
15 views

How can I set up laser_scan_matcher based on my own lidar measurement?

Hello, I trying to use the laser_scan_matcher tool. I found some demo launch file, which basically a .bag playback. I would like to use it with my laser node. My currently launch is: ...
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1 answer
39 views

Length of the ranges array in a LaserScan msg

Hi, I'm having this programming problem: I'm cycling through the ranges array in LaserScan messages and accessing its values. I'...
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0 votes
1 answer
32 views

laserscan not showing up correctly in rviz

I an running ros on 2 raspberry pi's. one pi runs master, mapserver, gmapping or amcl and my motor control and sensor node. on the other I an running Rviz. I am in my motor control and sensor node I ...
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0 votes
1 answer
2 views

laser scanner suitable for outdoor

hi I want to know where I can find all the laser scanner that is compatible with ROS? and it must be able to use in outdoor, and will not be effected by the sunlight. edit: plz any one can give me ...
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1 answer
10 views

Laser Filter and Hector Mapping Issue

Hi all, I recently implemented the angular_bounds_filter from the laser_filters package to hector SLAM for map building. I ...
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0 votes
1 answer
2 views

LaserScanLayer overlapping when I subscriber the topic “/scan”

First step: In PC (Ubuntu 14.04) , I ssh to the kobuki and bring up it with this command line roslaunch turtlebot_bringup minimal.launch --screen & and then ...
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0 votes
1 answer
4 views

What is the best way to clear robot elements from costmap or laserScan data

I have big robot with 360-degree LIDAR. LIDAR is set in a way, that some robot construction elements are on the LaserScan data. Thus they are at costmap. So robot become an obstacle for itself :-) I ...
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1 answer
4 views

Can you please help with my hector mapping launch file?

I have a LaserScan node "keyencelaser" that is publishing on the topic "scan" with frame "laser_frame" ...
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0 votes
1 answer
24 views

convert VLP16 sensor_msgs/PointCloud2 to sensor_msgs/LaserScan

I would like to test a library that require a sensor _msgs/LaserScan topic. I found this question http://answers.ros.org/question/9450/how-to-setup-pointcloud_to_laserscan/ but I am pretty new to ROS ...
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0 votes
1 answer
11 views

3D velodyne pointcloud to occuppancy grid

Hi, I intend to use this package http://wiki.ros.org/amcl or one similir to initially localize my self in a prebuilt map. I wnat to convert my 3D map to an occupancy grid, I know how to convert it to ...
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0 votes
1 answer
1 view

Get a navigation goal from laserscan

Hi everyone, For some purpose, I want to publish a navigation goal(type geometry_msgs::PoseStamped ). Now I want to get the position and orientation from the ...
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0 votes
1 answer
1 view

Problem with Approximatetime policy

Hi, I'm having a little trouble figuring out how to use the Approximate time policy. I'm able to run the code provide as a tutorial here. (http://wiki.ros.org/message_filters) But when I use classes I'...
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0 votes
1 answer
16 views

How can i save data into bag file so that i can perform gmapping?

I am trying to save data into bag file to run gmapping later. I don't want to do it through command line using rosbag, rather i want to write a python script to save the data into bag file. I tried ...
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0 votes
1 answer
7 views

Fusing Lidar data with IMU data (please verify my understanding/plan)

Hello everyone, I have a Neato XV-11 Lidar and a Sparkfun Razor 9DOF IMU. I have been able to get a live LaserScan, and PointCloud via laser_scan_assembler (periodic_snapshotter every few seconds). I ...
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0 votes
1 answer
87 views

Converting Laserscan (from XV-11) to Point Cloud (eventually 3D using octomap)

Hey guys, I'm pretty new to ROS and I've got myself a Neato XV-11 Lidar. I have it running and I can see scans in rviz under topic /scan, so that works fine. I have also installed Hector SLAM (from a ...
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0 votes
1 answer
5 views

Use different LaserScan source for obstacle avoidance

Is it possible to use different LaserScan source for obstacle avoidance? In my robot model I have several laser scanners installed and want to use one for navigation and the other one (possible more ...
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0 votes
1 answer
1 view

For mapping, what should i do after connecting to the laser?

Hi everyone! It's my first question and i'm so new to ROS (and even Linux :/ ) Anyway i tried to create a map with laser scanner, Sick LMS100. I installed lms1xx drivers, and i wrote the code "...
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1 answer
6 views

rosbag playing 100hz lidar data

Hi I'd recorded four lidar(Sick LMS511@100hz,0.67deg) with sicktoolbox_wapper2 and rosbag record(lidar1/scan, lidar2/scan, and so on). Once I tested my code in the lab using rosbag play XXX.bag, I ...
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1 answer
1 view

slam_karto marks grid cell underneath real robot as occupied

A picture is worth a thousand words, so here are 3000 words :P When slam_karto starts (on a real robot, not simulation), it marks a few cells underneath the robot ...
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2 answers
27 views

costmap not cleared after executing all recovery behaviors

Hi everyone, i have a problem with clearing my costmap. First the robot is seeing an obstacle (for example a door, which will be closed infront of him) and then the robot is driving out of distance of ...
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0 votes
1 answer
10 views

Hector mapping not creating map

Hi, I have a LIDAR connected to an AR drone, with drivers running on the drone to read the laser data, and send it to my ros master computer using netcat. I have written a ros driver in python that ...
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1 answer
1 view

What does baud rate in SICK LMS do and how does it affect the frequency of the messages being published on the topic?

In SICK LMS range finder, what does baud rate do and how does it affect sampling rate, frequency of messages being published on /scan topic? Let the detection angle be θ. Anglular resolution be α. ...
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