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 byrostopic 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
Picture attached https://www.dropbox.com/s/h9qqd7xf4rzhhir/Screenshot%20from%202017-05-30%2017_45_31.png?dl=0
https://www.dropbox.com/s/olznq1v3qh8h6v1/Screenshot%20from%202017-05-30%2017_43_53.png?dl=0 (Here, I just typed rostopic echo /diagnostics and got the results)
Asked by Francis Dom on 2017-05-30 04:57:09 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