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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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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 ...
antisocialkid's user avatar
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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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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 [closed]

THis is my launch file. ...
Zooz's user avatar
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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 ...
Emir Alp Ayar's user avatar
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ROS2 Laser Scan rotates with the robot in RVIZ

I am currently working on developing a ROS2 application for autonomous navigation using AMCl I came across an issue Video that shows the LaserScan rotating in a similar fashion to the robot when I use ...
Vrushab Jain's user avatar
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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 ...
Dev K's user avatar
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1 answer
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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: ~/...
antisocialkid's user avatar
1 vote
2 answers
37 views

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 ...
mrjo's user avatar
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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 ...
Dave's user avatar
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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 ...
chobo's user avatar
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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 ...
sivhaslee's user avatar
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Pointcloud2 ring and rgb

My LiDAR PointField has x, y, z, intensity and ring attributes. Can someone tell me how to insert rgb attribute into the PointField. I want to fuse the rgb from an image into this pointcloud.
ra130's user avatar
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1 answer
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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 ...
Daniela's user avatar
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1 answer
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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 ...
ra130's user avatar
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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: ...
Srini Vasan's user avatar
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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 ...
PhiloRobotist's user avatar
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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 ...
SLAMenjoyer's user avatar
1 vote
1 answer
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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 ...
Kyell's user avatar
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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 ...
ZealousBorealis's user avatar
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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 ...
Flamethrower's user avatar
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2 answers
48 views

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?
sidharth jeyabal's user avatar
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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, ...
Eric Sobczak's user avatar
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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 ...
Flamethrower's user avatar
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1 answer
93 views

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 ...
Mattia Dutto's user avatar
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31 views

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 ...
Crab00189's user avatar
1 vote
2 answers
103 views

/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 ...
Flamethrower's user avatar
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1 answer
39 views

why my odometry is moving around when use slam_gmapping

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M.Syarief Rahman's user avatar
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2 answers
86 views

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 ...
Leonardo Garberoglio's user avatar
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1 answer
43 views

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 ...
Flamethrower's user avatar
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2 answers
57 views

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 (...
Yskandar Gas's user avatar
2 votes
1 answer
49 views

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 ...
user192301's user avatar
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20 views

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 ...
AnuNarayan R's user avatar
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21 views

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 ...
MobileRobotics's user avatar
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1 answer
64 views

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 ...
Carlos Bezerrra UFG's user avatar
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1 answer
114 views

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 ...
Balen's user avatar
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79 views

ROS2 (no map recieved) SLAM with lidar

i have lidar( X2L 2D ydlidar /RPlidar A1) in hand and want to build a map with it as a first step of my project. so i used the ROS2 driver for the ydlidar to get the scan topic and slam toolbox to ...
DGrayMD's user avatar
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20 views

Why Lidar detection range in gazebo is different from setting?

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seokjinheo's user avatar
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2 answers
101 views

Robot won't move and laserScan won't show in RVIZ

I have a 4 wheeled robot with a LIDAR on the robot. I am able to move the robot in Gazebo and the lidar "scans"(if that's the right term for the blue lines coming out of it) are showing up ...
Balen's user avatar
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1 vote
1 answer
182 views

What is the best way to simulate Lidar for ROS2? Having problems

I have been trying to work out how to simulate a LiDAR using ROS2 / Gazebo, however I am having trouble getting anything to work properly. I am using ROS2-humble and IGN gazebo fortress I have tried 2 ...
Friizzle's user avatar
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2 answers
133 views

Issue with Continuous Map Creation Using YDLidar X2 and ROS2 Humble SLAM Toolbox

I'm currently facing an issue while working on my robotics project. I have set up a dynamic transform for Lidar data from Map-> odam-> base_footprint->base_link. Following this, I run the ...
Tharani's user avatar
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0 answers
27 views

Filters for Veiling/Smearing and ghost detections of SICK LiDAR data

I'm having trouble with LiDAR data from a SICK MRS1104C (4-layer 360°) on data that was collected in an orchard. Specifically, I observe ghost detections when I measure non-dense vegetation as can be ...
tschuett's user avatar
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128 views

Integrating Velodyne HDL-64E S2 Lidar with ROS2 - Driver does not seem to support it

I have a problem that I have been working on for many weeks now: I want to get a Velodyne HDL-64E S2 Lidar running in ROS2. Background: I am using ROS2 Humble under Ubuntu 22.04 and have connected the ...
Henne Leuchte's user avatar
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1 answer
108 views

Sensors in ROS2 without driver

I got a new LiDAR from a seller who unfortunately does not provide any ROS2 support. Rather there is only a Point Cloud Visualiser .exe in Windows. I would like to use the LiDAR in my project of ...
ra130's user avatar
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29 views

Solutions for LIDAR tf Calibration

I am currently engaged in a project focusing on AMR docking to a target object. The core of this process involves aligning a laser scan with a reference point cloud using the Iterative Closest Point (...
Osama Salah's user avatar
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0 answers
28 views

Custom messages are not generated in ROS 2

Project Goal I am working on a project with ROS 2 where my primary goal is to read data from LVX files (associated with Livox LiDAR sensors) and publish this data to a ROS bag. The key steps in my ...
Choppari Veneela's user avatar
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0 answers
30 views

How to deal with unsynchronized sensor data in a ROS2 bagfile?

I am using a ROS2 package for cooperative SLAM. After testing the package installation with official datasets like GrAco I recorded my own dataset with my vehicle. The main sensors I use are 3D-LiDAR ...
Talha's user avatar
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54 views

TF drift when use IMU on Cartographer

I want to use my IMU MPU9250 on the robot to perform 2D SLAM using Google Cartographer and RPLIDAR A1. But when my robot moves, the transformation goes crazy. The map rotates randomly (I see it in ...
Emir evcil's user avatar
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26 views

Reflectance Recognition with LIDAR Laser

I would like to know if anyone has tried to perform reflectance recognition using a Keyence SZ16D laser. I am attempting to guide my robot under a cabinet, which has metal legs. If I could detect the ...
Murilo Laba's user avatar
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1 answer
14 views

LaserScan scan_time for multiple scans in a single rotation

I have a LiDAR device that reports the entire 360 degree range, but split into scans of 22.5 degrees each, and I'm trying to assemble my LaserScan messages correctly. As I understand, each 22.5 scan (...
Caian's user avatar
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1 vote
1 answer
222 views

sensor fusion of lidar and camera detection

I am trying to achieve sensor fusion between two sensors(camera and lidar). I have two separate node(one is publishing detection results using camera, and other is using lidar and they both are ...
Hem92j's user avatar
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