Does laser_scan_matcher work with scans of more/less than 180 degrees? [closed]

asked 2015-02-27 07:46:30 -0500

jorge gravatar image

updated 2015-03-10 04:25:58 -0500

Hi all, I use the package laser_scan_matcher to detect whether a TrutleBot2 robot is stuck (by comparing the matcher pose to the odometry/commanded velocity). It works when I use an hokuyo laser and set min/max angles to -/+ pi/2, but matching fails most of the time if I use the 270 degrees scan. It's even worse if I use the fake laser scan extracted from the kinect by depthimage_to_laserscan. So... looks like laser_scan_matcher must be tweaked to uses non-180 deg scans, right? If so:

  • To the package authors: Would it be very difficult to do so?
  • To everybody: any alternative out there to get odometry from the laser? I tried also to install a camera and run viso2_ros, but didn't work well and takes a lot of CPU.

UPDATE I have created a github issue asking for this change.

Thank you a lot

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Closed for the following reason question is not relevant or outdated by jorge
close date 2015-04-24 09:47:36.163311


I'm using a SICK LMS100 with a 270 degree scan with laser_scan_matcher and haven't run into any issues.

Icehawk101 gravatar image Icehawk101  ( 2015-04-23 13:50:12 -0500 )edit

you are right! I retried with better combinations of parameters and performance improved regardless the fov

jorge gravatar image jorge  ( 2015-04-24 09:46:48 -0500 )edit