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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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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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 ...
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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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/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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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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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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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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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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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 ...
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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 ...
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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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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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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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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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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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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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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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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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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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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 ...
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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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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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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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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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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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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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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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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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