Questions tagged [lidar]
Lidar (also written LIDAR, LiDAR or LADAR) is a surveying technology that measures distance by illuminating a target with a laser light. Lidar exists as an acronym of Light Detection And Ranging.
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Can't use Ignition Gazebo thermal camera plugin with gpu lidar sensor
I am using Ignition Gazebo Citadel to simulate a differential drive robot, like https://gazebosim.org/docs/citadel/sensors. I am adding a thermal camera to the model (https://gazebosim.org/api/sensors/...
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Configuring Cartographer for Robustness Against the Kidnapped Robot Problem
I'm currently working on a project using the Cartographer SLAM system and have encountered a significant challenge related to the "kidnapped robot problem."
For those unfamiliar, this ...
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using LIDAR sensor output for home security sensor [closed]
first question!
ive no idea where to ask this question, but it seems the robotics community may have more experience with these sensors in a diy/coding context than anywhere else.
I am looking for the ...
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SLAM using ydlidar g4
I am using a ydlidar g4 on ros2 foxy (Ubuntu 20.04). I succeeded at getting the view of the LiDAR on rviz2 following this tutorial: https://github.com/YDLIDAR/ydlidar_ros2_driver. But I want to ...
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How to adjust the frequency of YDLiDAR X2
I am using YDLiDAR X2 within a ROS environment.
According to the datasheet, the voltage must be varied to adjust the frequency of the LiDAR. However, I apply the same voltage every time, but on some ...
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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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stamp error with lidar
This is a problem that occurred while connecting and using the YDLIDAR X2 lidar sensor to the Raspberry Pi.
https://github.com/YDLIDAR/ydlidar_ros_driver
I use this package.
it worked normally on ...
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How do I use other packages while writing my own package
Im just starting out with ros2, and I have been trying to do something that I thought would be very common.
I want to use the functions available inside some other package in my own node. The package ...
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Goal pose off the gloabl costmap with nav2 and slam-toolbox
I'm using slam_toolbox and nav2 stack to carry out SLAM with a quadcopter equipped with a LIDAR and a odometry camera in a simulated environment using Gazebo Garden (ROS2, Humble).
On the left, the ...
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ROS2 SLAM without Lidar
I am trying to implement SLAM and robot localization for my ROV - remotely operated underwater vehicle- without using lidar. nor wheel encoders since the rov's movement uses T200 thrusters and not ...
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Lidar /scan rotating with chassis
I have a robot controlled by ros2_control differential controller and on top I've mounted an A1M8 lidar.
I'm using a raspberry pi with ROS Humble and I'm trying to do mapping with slam toolbox. In the ...
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2D Lidar serial to USB connections
I am trying to use the 2D Lidar of a vacuum cleaner for some SLAM application on Jetson. I opened up the enclosure and noticed there are only 4 connection ports:
RX, PWM, GND, P5V
I am now puzzled on ...
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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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Point cloud in gazebo environment
I am working on a project whose main objective is to check the sensors that can perceive the environment and implement those in gazebo environment. so i am trying to implement lidar sensor and ...
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There was a problem with cartographer mapping with ros1
I'm trying to map one track using a cartographer using ROS1, but there was a continuous problem with the track being twisted track.
The lidar used is Hokuyo UST-10LX.
The map we're going to measure is ...
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How to detect transparent objects (glass, plastic, etc.) with LiDAR (or what sensors can)?
I am wanting to create a robot that can pick up trash. I am planning on taking a picture of the trash, using an ai i've trained to detect the trash, using opencv to find the contour of the trash, and ...
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Unable to publish odometry for Unitree A1 Quadruped Robot
I am working on Unitree A1 Quadruped Robot on ROS Melodic (Ubuntu 18.04). I have cloned the unitree_guide repository.
When i run ...
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Traffic cone detection and mapping
as part of formula student car racing I need a SLAM algorithm that will recognize cones and will build a map (there will be a few laps therefore map is needed for optimal path). The cones are of ...
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Routing through obstacles behind the robot
I encountered a problem with my robot in the planner algorithm I used in my project. The problem is as follows:
My robot is 1 meter long. My robot has realsense camera and lidar. With the camera data ...
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LiDAR Mapping Methods for a straight section of featureless environment (straight sections of pipe, tunnels etc)
Are there lidar mapping methods(algorithms/software packages) available that can be used to map featureless environment like straight sections of pipes? (It could use imu/wheel encoders to estimate ...
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Gazebo-Garden : [GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
When running gz-sim/examples/worlds/visualize_lidar.sdf (link), I get an error message ...
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clear costmap where a laser beam does not exist
My current setup involves a single LiDAR sensor that covers only a limited 220-degree arc of the robot's surroundings. As the robot moves, any obstacles seen by the LiDAR previously and not in the ...
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Any elegant way of concatenating Pointcloud from multiple solid state Lidars?
https://github.com/tomlogan501/pointcloud_merger
https://github.com/Atellas23/pointcloud_concatenate
I am attempting to combine data from 4 lidars (Front , back , left and right )
Tried a simple ...
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Gazebo Garden - How to get colliding entities with gpu_lidar sensor (ray)
Good morning, I open this question as I have not found a way to get the model_entity that collides with the gpu_lidar sensor.
I ...
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Looking for high accuracy lidar sensor on short range
Can someone suggest me where I can find high accuracy, high resolution lidar sensors? The sensor should have a resolution of 1mm. The accuracy should be very high ~1mm. The sensors can be short range ...
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help for installing lidar on a drone
Hi all,
(note: I posted this question on gazebo forum, but it is seems to be a ros plugin, so I post here too)
I'm trying to install a lidar on a drone (x500, model provided by PX4 repo).
I found some ...
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EKFSLAM with LiDAR and IMU + GPS localization module
There are many resources that relate to EKFSLAM based on the presence of only a LiDAR unit, which localize both the vehicle and the detected landmarks.
I see that they often use state vectors that get ...
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slam_toolbox + LD19 LIDAR
I recently purchased the LIDAR LD19. I managed to configure it and it is working fine, presenting the data in the RVIZ (LaserScan).
The LIDAR node is configured as described at: https://github.com/...
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Turtlebot 4 simulation - rplidar not working
I am trying to run a simulation for Turtlebot 4 by following this tutorial, Simulation, and using ros2 humble.
However, I am not able to see lidar rays properly in Ignition Gazebo or get it displayed ...
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Multisession odometry
I have two bag files with significant overlap and multiple loop closure opportunities. However, these bag files were recorded at different times. I want to use these bag files to reconstruct a scene ...
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Follow wall and avoid obstacles using lidar
I want to follow a wall and avoid any obstacles on the way.
My robot has a 360 degree sensor (lidar). I want to calculate a line (vector) to follow.
I tried a lot of different solutions but I didn't ...
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How does BA work for 3d lidar? Particularly VLP16/VLP32 aren't dense enough
How do you run bundle adjustment on a sequence of 3d lidar recordings if the scan is relatively sparse? I read something about attempting to match up planes/edges but there wasn't much detail given. I ...
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Error RVIZ extrapolation into the future on the same machine
I get the following error when trying to view my RPLidar A2 scan in rviz2. It’s on a differential drive robot controlled using Odrive and ros2 control using Articulated Robotics. I am running ...
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How does NDT work with global bundle adjustment?
I was reading about pointcloud matching and SLAM.
NDT is one approach to scan matching, what I am confused on is how you do global bundle adjustment using NDT occupancy grid.
https://www.researchgate....
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How do I integrate webots sensor plugins into a ros2 URDF/Xacro file?
I am trying to set up a Lidar, IMU, and depth camera in Webots on a ROS 2 robot in its xacro file (starting with just the Lidar).
I currently have the following:
...
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What tools do you like to use for LiDAR Point Cloud Analysis and Manipulation?
Hello,
Are there open source tools you like to use for manipulating and analyzing LiDAR data (.pcd, .las, .laz)? Generally the problems I am trying to solve are related to robotics.
Here's a list of ...
xparr45
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Webots: Spawn multiple nodes and disable collision between them, but not the environment
In Webots, I am spawning 10 vehicle nodes at the same time and position for reinforcement learning. I would like the vehicles to not interact with each other (collision and LIDAR) but still have ...
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Minimum distance that can be measured using Rplidar A1M8
can you please explain what is the minimum distance that can be measured using RPliadr A1M8
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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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velodyne LiDAR, which driver or lib give the timestamp of each point?
I am looking for a VLP-16 driver lib or code that gives a point time stamp instead of per scan time stamp.
I know their official manual show how to calculate the timestamp of each point but I was ...
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Transform problem with rviz map display when using the SLAMTEC Mapper M2M2 with ROS
I am working on a project using the SLAMTEC Mapper M2M2 with ROS to map an area of interest. I am using Oracle Virtualbox to run ROS Noetic with Ubuntu 20.04, and my host machine is running on Windows ...
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Gazebo Garden Lidar Visualization
I am trying to visualize a point cloud of the lidar so I used the file in the Gazebo Garden tutorials (link: https://gazebosim.org/docs/garden/sen...) and I added these two lines for the Vsiualize ...
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Question about getting global coordinates of lidar point cloud from relative in Webots
I need to do custom mapping of surroundings with lidar using mobile robot in Webots. What I use for that:
GPS for getting robot position.
Compass for getting direction robot.
Lidar for getting info ...
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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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sensor_msgs::PointCloud2 remove field from point cloud
I have a sensor_msg::PointCloud2 with the following fields/channels: x, y, z, intensity, ring, time. However, I need a copy of this cloud containing only the x, y, z data.
Erasing the fields from the ...
labude
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Motion/System Model for range finder
I have a 1D Time-of-Flight based range finder that returns distance in mm. I am trying to implement a Kalman filter to get outlier-free estimation. The sensor measures the distance to the ground below ...
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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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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 deal with inexact pointcloud matching?
When running ICP(for example with SLAM) it's possible your next position does not have a point cloud which matches up with the prior point cloud due to resolution limits. How is this dealt with it? ...
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Dynamic mapping without localization in ROS
I have a /scan topic coming from a 2D lidar scanner.
The task is to receive a mapping of the dynamic environment. It is assumed that the position of the scanner is always known, so localization is not ...
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