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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Sensor model and Inverse sensor model using occupancy grid mapping with lidar for particle filter

I'm a bit confused about how one goes about calculating the sensor model $p(z_t|x_t, m) $ and inverse sensor model for position $p(x_t |z_t,m_{t-1})$. From this answer, it seems like one way for ...
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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 ...
user192301's user avatar
2 votes
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264 views

Applying initial guessing to LiDAR point cloud for ICP processing in Graph SLAM

I am currently in the process of implementing Graph SLAM using ICP and g2o in python 2.7 The data I have are pose data (4 x 4 transformation matrix) and lidar data ( in the format of [x y z 1] with ...
David Lee's user avatar
1 vote
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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 ...
Friizzle's user avatar
1 vote
1 answer
63 views

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 ...
Constantin's user avatar
1 vote
1 answer
184 views

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 ...
Lex's user avatar
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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 ...
Nadav Israel's user avatar
1 vote
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3D LiDAR synchronization with RGB Camera

There's a general procedure for estimating projection transformation between camera and 3d LiDAR but there's a secondary problem which is associating pixels with depths in a grid which isn't uniformly ...
FourierFlux's user avatar
1 vote
0 answers
75 views

Fusing cross-correlated measurements for mobile robot's localization using unscented kalman filter (ukf)

I'm currently working on a mobile robot's indoor localization. On the perception side, I can only rely on a 2D lidar and wheel odometry. I have used these sources as input of different localization's ...
Kenza's user avatar
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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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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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16 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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34 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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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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Why Lidar detection range in gazebo is different from setting?

...
seokjinheo's user avatar
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2 answers
68 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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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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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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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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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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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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25 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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19 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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42 views

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/...
esther's user avatar
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20 views

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 ...
Brian's user avatar
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102 views

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 ...
AnaxGT's user avatar
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21 views

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 ...
tatatata's user avatar
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35 views

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 ...
MobileRobotics's user avatar
0 votes
1 answer
87 views

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 ...
pga's user avatar
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0 votes
2 answers
144 views

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 ...
cosmin bucur's user avatar
0 votes
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40 views

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 ...
fhm's user avatar
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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 ...
Sunart24's user avatar
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0 answers
59 views

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 ...
SMILES2's user avatar
0 votes
0 answers
47 views

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 ...
venkata's user avatar
0 votes
0 answers
16 views

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 ...
Vineet Pandey's user avatar
0 votes
0 answers
36 views

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 ...
Chris Thaliyath's user avatar
0 votes
0 answers
25 views

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 ...
mOSRobots's user avatar
0 votes
0 answers
233 views

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 ...
Yazan Rihan's user avatar
0 votes
0 answers
51 views

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....
FourierFlux's user avatar
0 votes
0 answers
18 views

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 ...
NEEK's user avatar
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115 views

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 ...
Chanoh Park's user avatar
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0 votes
1 answer
52 views

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 ...
Pe Dro's user avatar
  • 133
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0 answers
109 views

Custom sensors and materials simulation in Gazebo: how to simulate specific sensors behaviors for heterogenous materials / buildings

We are currently working on a simulation for a drone that would evolve in an urban environment. It would flight in front of facades and thus must avoid collision into walls, balconies, windows, etc. ...
Anil Narassiguin's user avatar
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0 answers
14 views

LiDAR rig that scans within a projection window

I had an idea for a LiDAR scanner but am having trouble locking in the feasibility of it. First of all - I know stereo matching would be way more efficient - this is more of a thought experiment at ...
FacePuncher7's user avatar
0 votes
0 answers
45 views

How to use data collect from lidar to generate a 2d map with

I'm new to robotics and I'm using ros noetic with the package rp_lidar. I want to use the data collected from my a1m8 slamteck lidar and generate a 2d map for my rover to navigate and avoid collision. ...
Andres Rojas Jr's user avatar
0 votes
0 answers
58 views

Use Realsense camera to get the camera image

I have to use LIDAR in my project. I was searching for some LIDARs with a camera and came across the Intel RealSense d400 series. I know it has a camera but please suggest a way to use that camera ...
Demon App Programmer's user avatar
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0 answers
27 views

How to obtain live vertical height values using LIDAR

I plan to control the flying height of my drone using a LIDAR (in real-time). Therefore, I would be attaching the LIDAR to my UAV, pointing vertically downwards. However, after looking at some of the ...
desert_ranger's user avatar
-1 votes
2 answers
18 views

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 ...
user avatar
-1 votes
1 answer
30 views

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 ...
FourierFlux's user avatar