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gmapping using a virtual turtlebot robot with a rplidar

asked 2015-08-26 04:12:09 -0600

rosRabbit gravatar image


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!

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answered 2015-08-26 04:37:24 -0600

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.

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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!

rosRabbit gravatar image rosRabbit  ( 2015-08-26 05:15:37 -0600 )edit
Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2015-08-27 02:14:06 -0600 )edit

Isnt Hokuyo UTM30-LX Lidar different from Robopeak rplidar?

murdock gravatar image murdock  ( 2016-04-18 09:40:11 -0600 )edit

Yes, but the simulated Hokuyo can be modified to reflect RPLIDAR properties (update rate, point density etc.) rather easily.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2016-04-18 10:57:29 -0600 )edit

I see. Is there already a list of params that would require tweaking to make Hokuyo more similar to RPLIDAR?

murdock gravatar image murdock  ( 2016-04-18 14:40:52 -0600 )edit

@Stefan Kohlbrecher , do you think I could simulate RPLIDAR with LMS1xx laser too? Here is the urdf of it.

murdock gravatar image murdock  ( 2016-04-20 01:48:59 -0600 )edit

You essentially just have to lower the update rate, range and angular resolution so the simulated data is consistent with what the RPLIDAR reports.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2016-04-20 06:37:03 -0600 )edit

Thank you Stefan!

murdock gravatar image murdock  ( 2016-04-21 03:00:43 -0600 )edit

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Asked: 2015-08-26 04:12:09 -0600

Seen: 2,045 times

Last updated: Aug 26 '15