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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Manual Lidar Camera calibration using fast-lio pointcloud and odometry
I have a special/strange case, I need to know the extrinsic transform between a Lidar and a camera or at least camera to IMU. But the problem is that in not all images the checkerboard is visible and ...
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Any Cheap LiDAR Capable of 3D Ranging a Road?
I am working with an academic team attempting to use LiDAR to range road surfaces to detect potholes and other hazards. We've been looking for a "Cheap" LiDAR that could give us a decent ...
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Any ROS2 package for OpenPcdet?
I have been using OpenPCDet (https://github.com/open-mmlab/OpenPCDet) for 3D object detection on LiDAR data. I found some GitHub repositories that provide ROS packages for OpenPCDet, and I'm wondering ...
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Nav2 Voxel Layer Costmap Issue: Path Planner Ignores Obstacles from PointCloud Data
Hello Robotics Stack Exchange community,
I'm experiencing an issue with the Nav2 voxel layer when using point cloud data to update my local costmap in ROS2. The costmap appears to be updated correctly ...
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How to simulate the lidar scan with the point cloud map and position?
I would like to do a particle filter based localization work with the prior map. The mechanism to update the particle weight is to compute the similarity between the real-time lidar scan and the ...
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3D mapping of tight spaces with LiDAR, IMU and wheel odometry
are there any ROS2 packages that would excel in mapping tight spaces (tubes less than 2 meters in diameter?
I'm trying to map such space using Livox mid-360 lidar with biult-in IMU. My robot also ...
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CMake Error at CMakeLists.txt:19 (find_package):
ubuntu 20.04.6
ROS2 FOXY
LD19
Hello guys,
I have meta problem while using my new LdLidar.
I have followed every step of this tuto: https://github.com/ldrobotSensorTeam/ldlidar_stl_ros2?tab=readme-ov-...
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Robosense RS-LiDAR-M1 AN2 Interface Box
I'm interested in buying a used Robosense RS-LiDAR-M1, and found used models discounted to the \\$500 to \\\$700 dollar range (from \\\\$8,000 new). However, according to the Robosense User Manual ...
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rviz2 unable to visulize msg from new gz-sim8 (gazebo harmonic) with ros-humble
I am using Ubuntu 22.04 with ROS 2 Humble and gz-sim8 (Gazebo Harmonic). I have gpu_lidar scan topic published from gazebo to ros topic using ros_gz_bridge. I can ...
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Protocol error while using Pepperl Fuchs OBD30M-R2000
I am trying to use the OBD30M-R2000 from Pepperl using the ROS package provided by them. The sensor is connecting successfully but not returning any data, and hence is throwing a protocol error. The ...
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turtlebot3 gazebo bad lidar camera alignment
I'm running on ROS Noetic.
I'm having problems with camera lidar alignment in gazebo which should have been perfect.
I used the waffle_pi and made 2 adjustments:
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Only One Time Mapping Issue
I need help about my slam_toolbox mapping issue.
I am using ros2 humble distro and slamtec s2 lidar and for mapping slam_toolbox.
When ı run my lidar and slam toolbox laser and toolbox working and ...
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remapping lifecycle node from /ldlidar_node/scan to /scan data not published
I am using ldlidar
for cartographer slam ros2 humble. The ldlidar published scan data on topic /ldlidar_node/scan but the cartographer node expects scan data on <...
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How do I handle map/odom transforms if I want to use robot_localization as well as slam_toolbox?
I'm trying to use slam_toolbox (2d LIDAR) in conjunction with robot_localization (IMU + Wheel Odom). So far my best idea for managing the frames is as shown in the pictures below. However, this ...
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Not getting intensity data from pointcloud when using gpu lidar in gazebo
I was trying to work on lidar point cloud using PCL by simulating a lidar in gazebo fortress and ROS 2. I am able to process the data but I always get the intensity as zero. Is there a way I could get ...
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Trouble with topic monitor and rqt on ros2 foxy
I hope you are all well. I began dabbling with Robotis Ros a few weeks ago and just got my hands on a 2018 model turtlebot3 burger. It has a Raspberry Pi model 3b 1gb, 16gb memory, and hfs-lds-01 ...
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Get 3D boundingbox with 2D boundingbox and LiDAR data
I'm trying to create 3D bounding boxes from 2D bounding boxes created with yolov5 and point cloud data from a lidar sensor.I'm working with ROS2 and Gazebo and as a reference I'm trying to use this ...
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I am trying to create map using odometry and display in rviz2. I am not able to create map as my scan topic doesn't have any publisher
The earlier issue is fixed but now the map is updating rightly in the rviz. The scanned data is moving along the robot as it moves. This is my main function.
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PointCloud2 xarco implementation
I'm trying to use a lidar for my simulation and I want to receive data from it. In the XACRO file I used the following plugin but the topic won't show in ros2 topic list. Here is the lidar code ...
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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 ...
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ROS AMCL Localization base_link to odom transformation extrapolation problem
I am trying to build a simple autonomously navigating robot using ROS Noetic on a Raspberry Pi 4 with ubuntu 20.04 and I am using RPLiDAR A1 as LiDAR.. I recorded a map and try to localize within that ...
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Exporting Lidar SLAM output to LAS from RViz and Aggregating Trajectories
I hope everyone is well. I ran SLAM using ROS on a PCAP from the Hesai OT128. The PCAP was converted to a bag file so that it can be inputted into the Kitware SLAM library. I was able to get a SLAM ...
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ROS2 LiDAR topic not showing
I'm trying to implement a LiDAR sensor in my simulation. I've added the sensor and it seems to work in Gazebo but I can't see the topic showing in ros2 topic list or in Rviz.
Here is the topic list:
~/...
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Is there any ROS package for precise docking using LiDAR or RGBD cameras?
I have a car like robot that runs on ROS1 Noetic. It has a four wheel differential drive configuration. My robot has two LiDAR and a depth camera. The path planning and collision avoidance are ...
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LiDAR simulation in O3DE (ROS2)
I'm using O3DE 23.10.1 on Ubuntu 22.04.4 LTS. I've built O3DE from github with the Source engine build type and the Profile build configuration. I've also built the O3DE-extras from source and created ...
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How to increase topic rate higher
Hi I am wondering if I can increase topic rate.
Here is two nodes, one is about lidar which send 'sensor_msgs::msg::Laserscan' data for 10hz and other one sends 'geometry_msg::msg::Twist' based on ...
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Manipulating the costmap to follow the path between obstacles
I am working on a project where a USV needs to follow the path between buoys. I set up the LiDAR and IMU which I will use to get localization and map data.
The problem is, pathfinding algorithm will ...
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Sensor fusion in ROS2: 360 lidar + depth camera
I recently purchased an OAKD-Lite camera and I'm trying to integrate it into my ROS 2-operated robot to detect obstacles that are lower than the 360lidar, preventing collisions. So far, I've succeeded ...
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LiDAR and Camera Fusion
Can anyone tell me about how can I fuse LiDAR and Camera data in a way that the PointClouds are colorised based upon the Image color.For example (in Gazebo Simulation) in an autonomous vehicle there ...
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Why is my Leddar Vu 8 sensor dies on roslaunch?
I have Leddar Vu 8 usb model. I installed the LeddarSDK as given in https://leddartech.com/app/uploads/dlm_uploads/2021/08/Install-Guide_SDK-Using-LeddarTech-Sensors-in-Linux_V1.0_EN-2.pdf
My specs:
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Gz Harmonic - Is there a Lidar sensor that is meant to be used on a machine without GPU?
I am looking for a Lidar Sensor in Gazebo Harmonic which is meant to be used on a machine without GPU. Is there one?
I found from here that the same mightn't exist. But then I found a Lidar.cc file ...
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Running ros1 packages with ros2 data
I'm trying to run different lidar based SLAM methods in order to produce a map of an environment. I've recorded my data in both .db3 and .mcap formats, but a lot of SLAM methods (an example being ...
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ldlidar ros 2, colcon build error, pthread mutex init/lock/unlock not declared
So i am trying to use the LD19 Lidar from ldrobot with ros2_iron. I am following this tutorial: https://github.com/ldrobotSensorTeam/ldlidar_stl_ros2. When i enter colcon build in the console it runs ...
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Robot Navigation In Human Environment and RTAB-Map, Right Direction?
I'm currently working on creating a robot for a capstone that moves in an environment where humans will be milling about indoors and will occasionally approach the robot to interact with it. My first ...
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TF issues with hector_mapping (reupload)
(I uploaded this a while ago but got no response whatsoever, so I'm uploading it again)
I am trying to use hector_mapping so I can get odom data just from my LiDAR to make a map of and navigate around ...
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3D LIDAR and Depth camera
I am using Ouster 3D-Lidar and depth cameras in a single robot.How can both be placed in a robot to avoid any cross-talk interference?
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Configuration of ROS2 Slam Toolbox
I am having trouble configuring SLAM toolbox to work well for my application. I have a very detailed laser scan, but it seems that a lot of that detail is not making it onto the map. For some context, ...
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TF issues with hector_mapping
I am trying to use hector_mapping so I can get odom data just from my LiDAR to make a map of and navigate around my house. However, I'm getting intermittent errors with the base_footprint and ...
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Robot lidar filter, ros2
I saw that for ROS1 there is this local filter for the lidar scan that is masking the robot shape, there is something similar for ROS2?
From what I saw there isn't.
Do you have any suggestions on how ...
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Lidar shows very few points. RPLIDAR A2M8
I'm using an RPLidar A2 for Slam on my robot but after mapping, when I am trying to localise, the lidar shows very few points. Is this normal? This lidar supposedly has a 12m range. Because it sees ...
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/map topic not receiving any data (but still published)
I'm using Ubuntu 20.04 on a Raspberry Pi 4 B and I'm trying to use the /map topic with my LiDAR. However, when I open Rviz to visualize it, a "Warn" error appears that says "No map ...
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nav2: how to ignore part of the robot on the lidar scan plane
I'm using nav2 on a real robot. It has a 360º Lidar and right behind it it has magnetometer mounting pole. Lidar driver has not angle range limit parameter. So I'm wondering how to ignore an object ...
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ROS topics and Rviz not working for LiDAR gmapping (/map)
I have a Raspberry Pi 4B with Ubuntu 20.04 and ROS Noetic 1.16.0 and I'm trying to use Gmapping with the /map topping with my LiDAR (an EAI YDLIDAR X4 with its driver, I think Radar_Con_V1.3.5.). I ...
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Where to find a circular robot, diameter < 45cm, load bearing >= 30Kg with ROS (1 or 2) installed?
I am looking for a robot with the following specifications:
Circular, holonomic robot
Diameter <= 45 cm (17.7 in)
Load bearing >= 30 Kg (66 lbs)
ROS enabled + camera & lidar sensor (...
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Is there any LIDAR 3D perception package for ROS2?
I spent a very long time searching GitHub, Google, and many other sites, looking for a LiDAR recognition package for ROS2, but I could only find one nvidia pointpillar model.
Because it requires a lot ...
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Aligning Point Cloud with IMU Heading in Sensor Fusion Setup
I'm currently working on a sensor fusion setup involving an IMU that provides absolute orientation with respect to True North and an Ouster Lidar generating PointCloud2 data. The IMU publishes to the ...
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Iterative closest point algorithm
I am working on an assignment to create SLAM without using ROS.
I have 2D lidar sensor data.
If I move the robot quickly using only odomatry, the map is generated distorted.
I would like to combine ...
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Lidar LD19 Hardware Configuration with slam_toolbox
I apologize for the discomfort. But I'm desperate with this LIDAR (LD19).
I am a beginner in ROS2. My entire life I have only used CoppeliaVREP.
I will detail the steps we followed and if you can help ...
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Saved map fro Slam_toolbox won't show up in RViz
I have been following this tutorial and he is able to load his saved map back into RViz with no issues but when I do the exact same thing I just get an empty map? Not really sure what I am doing wrong ...
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