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Issue with Hokuyo laser scaner

Hi

I am doing Hector SLAM with the hokuyo laser scanner and sometimes when the lens is dirty or comes in contact with dust during flight, the SLAM fails leading to crash I plan to analyse the hokuyo laser scanner path in rviz and if there is any specific way to see the impact of dust on the scanner. Any help will be greatly appreciated

Asked by Francis Dom on 2017-05-26 04:26:12 UTC

Comments

Maybe you can check if there is any false-reading under impact of dust. If you are using urg_node, you can also check the diagnostics topic which show the laser's error if any.

Asked by DavidN on 2017-05-27 06:01:39 UTC

How do I check the diagnostic topic ? Have anybody had similar issues with dust on the laser scanner ?

Asked by Francis Dom on 2017-05-28 20:50:47 UTC

We used to have problem with dust issue but it mostly affects navigation. Assuming the laser is in a good condition, the mapping should be fine in acceptable-dusty environment.

Asked by DavidN on 2017-05-28 20:53:13 UTC

Are you using urg_node to connect to your laser?

Asked by DavidN on 2017-05-28 20:53:39 UTC

Yes, I am ...

Asked by Francis Dom on 2017-05-28 23:13:41 UTC

Following this: http://wiki.ros.org/urg_node, the topic name is diagnostics

Asked by DavidN on 2017-05-28 23:19:18 UTC

Thanks, is there any way to see the error reading in rviz

Asked by Francis Dom on 2017-05-28 23:23:14 UTC

could you pls guide me on how to print the diagnostic_msgs

Asked by Francis Dom on 2017-05-29 01:34:11 UTC

If your laser node name is laser_x then the you can view the diagnostics topic by rostopic echo /laser_x_diagnostics

Asked by DavidN on 2017-05-29 02:31:55 UTC

I can do this in a separate terminal while rviz is running right

Asked by Francis Dom on 2017-05-29 02:44:43 UTC

Yes you can. Please post any error reported by the urg_node so that we can help

Asked by DavidN on 2017-05-29 03:09:42 UTC

Can you pls share a sample error message for understanding

Asked by Francis Dom on 2017-05-29 03:15:24 UTC

Is the laser node name; urg_node ? If not, how do I find it ?

Asked by Francis Dom on 2017-05-30 01:11:36 UTC

If there is any error in the laser scanner measuring the distance, will it be reflected here

Asked by Francis Dom on 2017-05-30 05:02:21 UTC

Answers