Multiple laser on the same topic and frame

asked 2014-09-30 22:41:48 -0500

clonzz gravatar image


I have multiple lasers with different angle increment. I publish the data to the same topic and frame. However, since the laser are of different types, I publish different angle_max, angle_min and angle_increment corresponding to each laser message.

The problem is that the RVIZ only shows one of the laser. Sometimes, it only shows first laser and the other time only shows the second laser. This problem is quite weird since I publish the messages to the same topic and tf frame. The same problem happened when I use Gmapping; only one laser is chosen randomly to be used for mapping.

Appreciate any input.


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Why don't publish on different topics/frames and set up a fixed transform broadcaster for having the frames identical? (Still wondering how you physically mount two lasers in the same position;) )

Wolf gravatar image Wolf  ( 2014-10-01 01:42:52 -0500 )edit

Agree with Wolf about publishing on different topics..., one per scan. I suppose you are working with some kind of multi-beam scanner (like ibeo). Isn't it ?

Andreu gravatar image Andreu  ( 2014-10-01 10:40:51 -0500 )edit

Are the timestamps different for each one? How about increasing queue_sizes?

lucasw gravatar image lucasw  ( 2014-10-01 11:59:14 -0500 )edit

Thank you for the comments. I have tried to publish to two different frames but it is not working with Gmapping. So, since the 3D (Z coordinate) of the sensors are not important and they are at the same x-y position, I publish it to the same frame to test whether it is possible to run Gmapping.

clonzz gravatar image clonzz  ( 2014-10-01 18:45:54 -0500 )edit

However, both the RVIZ (subscribe to scan) and Gmapping not working. They only take either one of the scans and consistent along the operation although when I echo I get both scans. The timestamp and sequence are different. I have not tried increase the queue size and would try it then.

clonzz gravatar image clonzz  ( 2014-10-01 18:47:52 -0500 )edit