Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to add SICK TiM Lidar to TurtleBot?

asked 2015-01-21 00:42:47 -0600

iraheta28

11 ●1 ●2 ●2

Hi,

I'm new to ROS. I'm using Ubuntu 12.04 and ROS Hydro. I got a TurtleBot 2 and want to use a laser scanner for mapping and navigation instead of the Kinect. I have a SICK TiM551 (Ethernet). I have already installed the sick_tim driver and the sick_tim551_2050001 node seems to be working fine. I can ping the sensor...

I am looking for a tutorial on how add a SICK TiM lidar to a TurtleBot.

I have already created a map using the Kinect by following the steps in "Build a map with SLAM" Tutorial:

http://wiki.ros.org/turtlebot_navigat...

But I want to create and save a map with my SICK Lidar and not with the Kinect.

Thanks,

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-01-21 02:33:14 -0600

dornhege

31395 ●134 ●284 ●498

I don't think there is any tutorial, but this is quite straight-forward.

Mount the laser on the robot. Just below the Kinect is a good place to not restrict any FOV
Put the laser in the URDF with the mounted position
When starting gmapping use the laser's topic instead of the scan produced by the Kinect.

edit flag offensive delete link

Comments

Thank you for your answer. I am glad to hear this is possible. However, please remember I am quite new to ROS. Could you please explain in more details how to "put the laser in the URDF with the mounted position " ? I noticed there's an URDF folder (directory) in the turtlebot_description package

iraheta28 ( 2015-01-21 10:06:39 -0600 )edit

There might be a proper way, but we just cloned that package and edited the URDF (basically needs 1 link and a fixed joint). The URDF docs should be simple to understand for that. https://github.com/GKIFreiburg/gki_ro...

dornhege ( 2015-01-22 03:28:20 -0600 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2015-01-21 00:42:47 -0600

Seen: 1,618 times

Last updated: Jan 21 '15

How to add SICK TiM Lidar to TurtleBot? edit

1 Answer

Comments

Question Tools

Stats

Related questions

How to add SICK TiM Lidar to TurtleBot?