hokuyo UST-10LX laserscan noise

asked 2016-06-13 23:04:38 -0500

gaojiao gravatar image

Hi, I'm using urg_node to get hokuyo UST-10LX laserscan data and display it in RVIZ.

I set the min angle and max angle to -75° to 75°. When the robot walks in a wide area (no obstacles within 2 meters), it works ok.

But when walks in a narrow area(say, two walls in the left and right, about 1.0 meters away from robot), there will be two clusters of laserscan noise in the direction of -75° and 75°, respectively.

How to solve this problem? Any suggestion will be appreciated.

edit retag flag offensive close merge delete


have you tried the laser_filter package ?

C3MX gravatar image C3MX  ( 2016-06-14 14:53:42 -0500 )edit

No, I'm displaying the /scan topic directly. I will have a try.

gaojiao gravatar image gaojiao  ( 2016-06-14 20:21:21 -0500 )edit

Using laser_filter can't solve the problem. Maybe the cluster of noise is too big to be considered as noises. When using angle_min/angle_max parameters, the urg_node suggests that "If supported by the hardware; it is not recommended to implement this feature in software".That is a tough problem

gaojiao gravatar image gaojiao  ( 2016-06-14 20:55:07 -0500 )edit

I am experiencing the same issue. There is noisy data corresponding to the min and max angles. Would really appreciate any solution to this!

sashi2295 gravatar image sashi2295  ( 2018-04-03 05:14:03 -0500 )edit