Questions tagged [sonar]

SONAR stands for SOund Navigation And Ranging, it is a technique that uses sound waves to detect objects or to navigate.

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iRobot matlab simulator: robot getting stuck in wall boundaries and not moving anywhere

I am using the iRobot Create simulator in matlab and I used sonar sensors on the robot for wall following but during the autonomous run but it got stuck in a corner. Please help me with this problem I ...
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DVL as a ranging sensor

I am trying to use a Doppler Velocity Log (DVL) as a ranging sensor. The DVL has four acoustic beams with known poses and ranges. This makes it possible to estimate 3D points on the seabed (if the ...
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gazebo_ros range plugin do not show in rostopic list

Hi, I am trying to implement a sonar sensor in Gazebo. I search online and find this tutorial. I follow the instruction and make some change because I use Noetic instead of Kinetic. After setting up, ...
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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. ...
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sonars with range_sensor_layer not clearing obstacles

Hi everyone, I'm working on a turtlebot3 burger and I'm trying to integrate sonars in order to detect low obstacles in front of the robot. Currently, there are two sonars mounted to the robot, and ...
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Error with range_sensor_layer. move_base node dies when a sensor_msgs/Range is published

Hi, I am trying to setup a range_sensor_layer to use an ultrasonic sensor on the navigation stack. I am using move_base in a custom mobile robot. The robot uses a computer with Ubuntu 18.04.2 LTS and ...
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2 votes
1 answer
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Convert sonar scans to Lidar scan file

Has anyone tried to map environments using Sonars or 1D ToF sensors? Since it's very difficult to implement such an algorithm from the scratch, I'm planning to use an existing ROS packages such as ...
Tharindu Suraj's user avatar
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Ultrasonic sensor with range_sensor_layer not forming cone obstacles

Hi, I am able to form a costmap using my Lidar data and move_base through the ROS Navigation stack. However when I try to integrate an ultrasonic sensor to the costmap using range_sensor_layer there ...
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5 answers
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What's the difference between a sonar and ultrasonic sensor?

After having read the introductions of the Wikipedia articles about "sonar" and "ultrasonic sensor", it is still not clear to me what the differences between the two are. In the context of robotics, ...
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Appropriate distance sensing technology for specified conditions [closed]

I have been considering different distance sensing technologies for the following circumstance: Range needs to be about 2.5 meters The surface being measured is a wall that is painted black The ...
Murey Tasroc's user avatar
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Matlab: Simulate received signals of sonar sensors [closed]

StackExchange community! I need the guidance what to use for the generation sensor data in Matlab. My purpose is to optimize the exploration process of unknown environment using the multi-robot ...
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Unknown noise in uwsim 3D range mapping

I am working with UWSim, and I have modelled a rotating multibeam on the AUV (like a lidar on a car) that maps the 3D surroundings of the robot, creating a "range map". I am facing a type of ...
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I'm using CAT simulation and I added sonars to the jeep in the simulation using hector gazebo but I keep getting an error in rviz

I keep getting the error " Transform [sender=unknown publisher]For frame [/sonar link]: Frame [/sonar link] does not exist " I tried all the solutions provided in the ROS answers but still I ...
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What is the difference between tf_broadcaster and tf_listener?

I'm trying to code tf configuration in navigation stack, i'm having some problem in understanding if i need to code one tf_broadcaster and one tf_listener for each sensor or just one tf_broadcaster ...
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Obstacle avoidance with navigation stack without map!

I've got a little robot with 4 sonar sensor, is it possible to do obstacle avoidance without have a map? I've just finish to configure navigation stack and setting up launch files, but now i'm stuck. ...
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range_sensor_layer marks max sonar range as obstacle?

I'm using Gazebo to simulate a 4-wheeled differential drive robot. The robot has a forward sonar sensor, so I added a simulated sonar sensor. The sonar sensor appears to work; it detects obstacles and ...
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how to access rosaria/sonar pointcloud data

When i used rostopic echo /RosAria/sonar it showed points: which showed x,y,z,data I want to access these x,y,z data with a cpp file. i'm trying msg->points.data() Originally posted by Himanshu ...
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Quadcopter PID Tuning for Altitude Hold/Position Hold along Z axis

Good day, I have just finished tuning the Pitch and Roll PID's. I did this by setting the throttle such that the quad is weightless. I did the tuning of each axes separately. I would just like to ask ...
user123456098's user avatar
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Ultrasonic Sensor's Lag (20Hz) effect on PID contol loop rate (150Hz)

Good day, I would like to ask how is it possible to use an ultrasonic sensor for altitude hold in a quadcopter if the sampling rate of the Ultrasonic sensor (HC-SR04) is only 20Hz before incurring any ...
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2 answers
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a cheap Laser / IR solution for 2D mapping?

Hi guys, does anyone know of a relatively cheap sensor solution for 2D mapping? don't need it to be (laser) accurate. just good enough to build a 2D map for some basic indoor navigation job. Sonar, IR,...
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Viewing p2os sonar in RViz

I would like to get the sonar sensors for my Pioneer P3-DX robot up and running. I am utilizing ROS Hydro on Ubuntu 12.04 on both a base laptop and a PC on the P3-DX. I've gone into p2os/p2os_driver/...
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Dynamically detect changing obstacles

So the idea is that there would be one robot acting as overwatch, which would detect all of the obstacles in an area (which are not necessarily static), and then send the data about the obstacles' ...
HotelCalifornia's user avatar
4 votes
3 answers
156 views

Tracking Landspeed Underwater

I am hoping someone might be able to nudge me in the right direction (apologies for the long post but wanted to get all the information I have gained so far down. Basically I am after a solution to ...
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Fusing 2 sonars / pingers as continous sensors or 'GPS'

Picking up where I left ekf_localization-node-not-responding, I am trying to fuse position in x and y from 2 sonars (Tritech Micron MK III) with (double integrated accelerometer) position from an IMU (...
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Phidgets interface kit 8/8/8 with EZ1 sonar sensor and ROS Hydro

Hello, I implemented a c++ code with phidgets interface kit and the ez1 sonar sensor to be used as collision avoidance on a robot. But I'm having trouble creating the package or somehow building my ...
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2 votes
3 answers
2k views

SLAM without landmarks using sonar [duplicate]

I'm currently programming an app for a robot and I'd like to make him map a zone and then make him move autonomously from one point to another. I have to solve a SLAM problem, but the biggest matter ...
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What are some low cost alternatives for lidar? [closed]

It need not be as effective as lidar or it may have some disadvantages when compared with lidar. What are the probable alternatives? Edit: I'm intending to use it outdoors for navigation of ...
seetharaman's user avatar
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how to solve the error ? undefined reference to `laser_geometry::LaserProjection:

I am working in corverting the laserscan data to sonar data. In this task I had I have the same problem as in this question "http://answers.ros.org/question/31968/compiler-cant-find-...
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Error error in operand of ‘->’ which has non-pointer type ‘sensor_msgs::PointCloud’

I wrote a code to convert from laserscan points to sonar scan point from the following link wiki.ros.org/laser_geometry where they provide the following code ...
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side scan sonar

Hi, I'm working on an underwater robot simulator. The dynamic and control parts are covered and I am now trying to simulate side-scan sonars, as it is a commonly used sensor in AUV. Are there any ROS ...
oKermorgant's user avatar
6 votes
1 answer
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How do ultrasonic range finders detect objects at an angle?

As far as I can tell, an ultrasonic rangefinder works by reflecting inaudible soundwaves off of objects and timing their return. But if the object has a flat surface and is angled with respect to the ...
Paul's user avatar
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8 votes
1 answer
515 views

Monte-Carlo Localization

I'm implementing Monte-Carlo localization for my robot that is given a map of the enviroment and its starting location and orientation. Mine approach is as follows: Uniformly create 500 particles ...
Andrei Ivanov's user avatar
6 votes
1 answer
300 views

Image retrieval through a multibeam imaging sonar

I would like to know if anyone here has used the Blueview SDK (Linux) for retrieval of images from the pings obtained by a multibeam sonar (P450, P900, etc.) ? If so, I'd like to know why would anyone ...
freax's user avatar
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3 votes
2 answers
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Usage of Multibeam 2D Imaging Sonar for AUVs, testing them in the pool environment

I belong to an AUV team at my university. We are planning to have a Multibeam 2D Imaging Sonar (the Blueview P900) for our AUV to detect obstacles underwater. I have the following questions to ask on ...
freax's user avatar
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1 answer
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Generate map with underwater sonar data

I would like to create a map with underwater sonar intensity data. What I did so far was creating a pointcloud2 message from the intensity data, with a simple threshold for the intensities. Due to the ...
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8 votes
1 answer
1k views

How can I manipulate real-time sonar data from my Arducopter in Arduino?

I have a APM 3DR Quad with a 3DR radio telemetry kit. I would like to send real-time sonar data to my laptop (running Windows 7) in order to manipulate it in an additional Arduino Sketch. The ...
user1702's user avatar
11 votes
3 answers
3k views

How to deal with sonar crosstalk

Our robot has a circular array of 12 sonar sensors that looks like this: The sonar sensors themselves are pretty good. We use a low-pass filter to deal with noise, and the readings seem pretty ...
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how can i use sonar with hector_mapping package (laser and IMU) to draw map?

i created /map with laser an imu by hector_mapping package. but how can i use sonar (with laser and imu) too create better map? Originally posted by Mohsen Hk on ROS Answers with karma: 139 on 2013-...
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2 answers
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How to turn off Pioneer 3dx rear sonars using ROSARIA?

I have a Pioneer 3dx mobile robot, which has eight front sonars installed. It is also possible to have eight additional sonars at the rear of the robot, but I don't have these. However, when ...
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1 answer
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Anyone using SRF08 ranger on address other then 0xF8?

I've got a single SRF08 ranger running on the supplied 0xF8 address, but I can't get it to work on the other addresses (I need several sensors). I have verified the ranger to be addressed to 0xE8, ...
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2 answers
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ROS Answers SE migration: hector sonar

I want to know if libhector_gazebo_sonar works with only one array of Ray data in it field of view. I am testing the sonar right now but the lectures are very bad. If the object is inside the range ...
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1 answer
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Cost Map 2D Setup

Hi all, I'm still trying to figure out a way to generate a reasonable map using sonar data alone. I've given up on gmapping for now. Thought I'd look at the navigation stack's cost map 2d - questions ...
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4 answers
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Mapping with Sonar Data?

Hi All, Had anyone had any success creating a reasonable map in ROS with just sonar and odometry data? If so I'd like to know what map type; setup etc you used. Currently the map is a mess (An only ...
MarkyMark's user avatar
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Porblem Publishing Sonar and IR Data

Hi all, Not sure what's the matter here. If I use rostopic list, when my publisher has advertises Sonar messages I see /Sonar in the list. However if I try just the IR data it sometimes works most of ...
MarkyMark's user avatar
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Help with tf and sensor & odometry and robot positioning

Hi All, Soz if this question is a bit confused after much flicking through the tuts) - I am... At the moment I'm simply trying to, in code (i.e. leaving out URDF for now) create my robot. It's simply ...
MarkyMark's user avatar
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Sonar sensor in ROS

Hello to everybody, I have to ask a suggestion. Is there any implementation of sonar sensor in ROS? I need an height estimator for my simulated quadrotor (it has to be external to IMU equipped on the ...
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2 answers
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Problem running pointcloud_to_laserscan launch file

I'm attempting to use the pointcloud_to_laserscan stack with data we have collected from a sonar scan which has been converted in to pointcloud2 data. I'm a little confused at how nodelet's and also ...
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1 answer
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Ultrasonic range sensors in gazebo

Hi, I've been trying to find a robot with at least one ultrasonic range sensor that is already simulated in Gazebo so I can see how it is programmed, but I can't find any, and I see that there isn't a ...
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use a single static_transform_publisher for multiple sensors

Hello everyone, I just started using ros to build a sonar sensor array composed of 16 sensors. I was wondering if there is a way to use a single static_transform_publisher to broadcast all the sensors ...
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3 answers
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How to display sonar readings in Rviz

I have a custom robot and have a URDF model of it set up in rviz. I have several Sonars and Sharp IR sensors mounted on it. I'm working my way toward using the navigation tools, how do I show my ...
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