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How to add SICK TiM Lidar to TurtleBot?

asked 2015-01-21 00:42:47 -0500

iraheta28 gravatar image

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,

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answered 2015-01-21 02:33:14 -0500

dornhege gravatar image

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

  1. Mount the laser on the robot. Just below the Kinect is a good place to not restrict any FOV
  2. Put the laser in the URDF with the mounted position
  3. When starting gmapping use the laser's topic instead of the scan produced by the Kinect.
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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 gravatar imageiraheta28 ( 2015-01-21 10:06:39 -0500 )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 gravatar imagedornhege ( 2015-01-22 03:28:20 -0500 )edit

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Asked: 2015-01-21 00:42:47 -0500

Seen: 1,018 times

Last updated: Jan 21 '15