gmapping using a virtual turtlebot robot with a rplidar
Hi,
The virtual turtlebot has a kinect on it. Using the virtual kinect data, the virtual turtlebot could get its map using gmapping. Could the virtual kinect be changed to a virtual rplidar? If yes, how to do it? Thanks!
Asked by rosRabbit on 2015-08-26 04:12:09 UTC
Answers
Yes, that's possible, you just have to add it to the URDF model and adjust your setup accordingly. A modified Turtlebot with a simulated Hokuyo UTM30-LX LIDAR mounted can be found in the hector_turtlebot repo. The LIDAR is added here in L20 of the turtlebot_sick_setup.xacro file. The simulated robot is spawned using the spawn_sick_robot_day_2014_setup.launch.
Asked by Stefan Kohlbrecher on 2015-08-26 04:37:24 UTC
Comments
Hi, Thanks for replying. I clone the hector_turtlebot and see how hokuyo laser is being added. I found it need package of hector_sensors_description. But I could find it in this repository. Do I miss something? Thanks!
Asked by rosRabbit on 2015-08-26 05:15:37 UTC
You can find that here: https://github.com/tu-darmstadt-ros-pkg/hector_models
Asked by Stefan Kohlbrecher on 2015-08-27 02:14:06 UTC
Isnt Hokuyo UTM30-LX Lidar different from Robopeak rplidar?
Asked by murdock on 2016-04-18 09:40:11 UTC
Yes, but the simulated Hokuyo can be modified to reflect RPLIDAR properties (update rate, point density etc.) rather easily.
Asked by Stefan Kohlbrecher on 2016-04-18 10:57:29 UTC
I see. Is there already a list of params that would require tweaking to make Hokuyo more similar to RPLIDAR?
Asked by murdock on 2016-04-18 14:40:52 UTC
@Stefan Kohlbrecher, do you think I could simulate RPLIDAR with LMS1xx laser too? Here is the urdf of it. https://github.com/clearpathrobotics/LMS1xx/blob/master/urdf/sick_lms1xx.urdf.xacro
Asked by murdock on 2016-04-20 01:48:59 UTC
You essentially just have to lower the update rate, range and angular resolution so the simulated data is consistent with what the RPLIDAR reports.
Asked by Stefan Kohlbrecher on 2016-04-20 06:37:03 UTC
Thank you Stefan!
Asked by murdock on 2016-04-21 03:00:43 UTC
I have noticed that I can also change parameters for AMCL regarding laser scan. I assume I should also update it to match RPLidar there too, correct? For example, laser_max_range and laser_min_range.
Asked by murdock on 2016-04-26 08:15:02 UTC
This probably is not necessary, but it might be helpful if you know that your LIDAR for instance provides extremely noisy data in a certain distance range or so.
Asked by Stefan Kohlbrecher on 2016-04-27 11:07:03 UTC
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