Issue with Hokuyo laser scaner

asked 2017-05-26 04:26:12 -0600

Francis Dom gravatar image

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

edit retag flag offensive close merge delete

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.

DavidN gravatar image DavidN  ( 2017-05-27 06:01:39 -0600 )edit

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

Francis Dom gravatar image Francis Dom  ( 2017-05-28 20:50:47 -0600 )edit

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.

DavidN gravatar image DavidN  ( 2017-05-28 20:53:13 -0600 )edit

Are you using urg_node to connect to your laser?

DavidN gravatar image DavidN  ( 2017-05-28 20:53:39 -0600 )edit

Yes, I am ...

Francis Dom gravatar image Francis Dom  ( 2017-05-28 23:13:41 -0600 )edit

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

DavidN gravatar image DavidN  ( 2017-05-28 23:19:18 -0600 )edit

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

Francis Dom gravatar image Francis Dom  ( 2017-05-28 23:23:14 -0600 )edit

could you pls guide me on how to print the diagnostic_msgs

Francis Dom gravatar image Francis Dom  ( 2017-05-29 01:34:11 -0600 )edit