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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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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1 answer
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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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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 ...
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1 answer
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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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Mapping and Localization for Racing using 3D Point Cloud Data (Cone-based Track) [closed]

I'm working on a project involving autonomous racing on a track marked with cones. I have 3D point cloud data from a LiDAR sensor and want to achieve both mapping and localization of the vehicle ...
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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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Why Lidar detection range in gazebo is different from setting?

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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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1 answer
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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 ...
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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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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 (...
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1 answer
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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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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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1 answer
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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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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 ...
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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 ...
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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 ...
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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 ...
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1 answer
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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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1 answer
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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 ...
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1 answer
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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 (...
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How important it is to sync the timing for gnss and lidar in localization?

I have not synced the timing for gnss and lidar yet. Will it affect the localization accuracy a lot? I found gnss_pose is published based on the GPS time and ndt_pose is published based on the current ...
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ICP for LiDAR point cloud data in two frames

I am currently using the ICP to register Lidar point clouds in two frames. The problem is that the translation value calculated by the difference of average point values of utilized points in two ...
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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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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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1 answer
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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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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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1 answer
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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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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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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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1 answer
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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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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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1 answer
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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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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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Hector SLAM in ROS with RPLidar

Trying to set up Hector SLAM with the RPLidar A2. I downloaded both rplidar_ros-master and hector_slam-catkin; extracted them ...

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