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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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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 ...
oswinso's user avatar
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2 votes
0 answers
281 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
0 answers
11 views

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
1 vote
1 answer
43 views

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 vote
2 answers
97 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
1 vote
1 answer
167 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
1 vote
1 answer
91 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
278 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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1 vote
0 answers
75 views

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
0 answers
91 views

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
77 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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0 answers
14 views

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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7 views

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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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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0 votes
1 answer
27 views

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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0 answers
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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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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
0 votes
1 answer
42 views

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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0 answers
13 views

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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0 answers
8 views

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
0 votes
2 answers
47 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
0 votes
0 answers
36 views

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
0 votes
0 answers
11 views

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
0 votes
1 answer
84 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
0 votes
0 answers
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
0 votes
1 answer
39 views

why my odometry is moving around when use slam_gmapping

...
M.Syarief Rahman's user avatar
0 votes
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
0 votes
0 answers
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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0 answers
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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71 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
0 votes
0 answers
20 views

Why Lidar detection range in gazebo is different from setting?

...
seokjinheo's user avatar
0 votes
2 answers
127 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
0 votes
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
0 votes
0 answers
124 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
0 votes
0 answers
28 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
0 votes
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
0 votes
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
  • 3
0 votes
0 answers
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
0 votes
0 answers
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
0 votes
0 answers
36 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
  • 1
0 votes
0 answers
156 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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0 votes
0 answers
24 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
0 votes
0 answers
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
127 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
  • 1
0 votes
2 answers
203 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
0 answers
53 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
  • 31
0 votes
0 answers
50 views

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
0 votes
0 answers
64 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
62 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
17 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