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Steps to use IR sensor

asked 2015-01-05 03:13:09 -0600

dawid.wolski gravatar image


I built an infrared sensor ring, but I can't handle how to use it to navigate TurtleBot 2. I can show distances send by sensors in RViz (using LaserScan messages) but I don't know how to use these data to update costmap. I use the default TurtleBot launch files, because I also use Kinect, bumpers etc. and I want to add IR sensors for this configuration. Please tell me what steps should I take having hardware and data in correct format ready.

Best reagards

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answered 2015-01-07 03:15:37 -0600

jorge gravatar image

I saw also this question from you; looks good but you have the infrared scan in the same z_voxel as the kinect (min/max_obstacle_height are the same for both). You should have z_voxels = 3, and use one for bumpers, one for infrared and one for the kinect, ensuring tat min/max_obstacle_height values lay within the z-voxel limits.

In my case I use a ring of sonars instead of infrared, but the integration with navi stack is the same. However, I publish the sonar readings as sensor/msgs/Range and use range_sensor_layer to add them to the costmap. You don't need to do this, really; if you are using typical Sharp IR sensors, that have very narrow fov and are not very noisy, merge them in a laser scan is fine.

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Hi jorge, it looks like my only problem was z_voxels variable set to 2 instead of 3 :)

To prevent noises I use capacitors and it is enough, if you will use IR sensors check this

Thank you

dawid.wolski gravatar image dawid.wolski  ( 2015-01-12 03:59:22 -0600 )edit

I guess you can have problems with one kind of sensor interfering the others if you have more than one in the same z-voxel; to my understanding you should add each source to its own layer in the voxel grid, so one sensor doesn't clear the obstacles marked by others. But fine if it works as it is!

jorge gravatar image jorge  ( 2015-01-12 04:44:03 -0600 )edit

I also experimented with a IR sensors ring: , and yes, absolutly need capacitors on the sensors!

jorge gravatar image jorge  ( 2015-01-12 04:46:22 -0600 )edit

Hi Jorge, I am currently publishing my 3 sonar sensor readings over ROS using the range messages as you are, is there a need to use the navigation stack? I would think there is a need but i am not sure how to publish the range msgs to the navigation stack as it does not support them?

miguel gravatar image miguel  ( 2015-06-22 04:22:22 -0600 )edit

Does the costmap require the navigation stack in other words.

miguel gravatar image miguel  ( 2015-06-22 04:23:21 -0600 )edit

mmm... not sure what you mean... you can use your sonars readings to avoid obstacles with move_base or with any other obstacle avoidance software of your choice. But to mark obstacles in the move_base's costmaps you need the range_sensor_layer package

jorge gravatar image jorge  ( 2015-06-23 08:58:21 -0600 )edit

Ok thank you.

miguel gravatar image miguel  ( 2015-06-23 09:15:27 -0600 )edit

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Asked: 2015-01-05 03:13:09 -0600

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Last updated: Jan 07 '15