Ask Your Question
0

Rotating laser mounted on a vehicle

asked 2017-11-23 02:29:12 -0600

Mekateng gravatar image

Hi, I obtained 3d point cloud using 2d rotating laser scanner on a base frame . But now I want to this mounted on a vehicle. How can I do it?

edit retag flag offensive close merge delete

Comments

1

I'm guess the answer I'd give right now is "Mount it on a vehicle", but I guess you're interested in some more specific (hopefully ROS-related) information. You might want to edit your question accordingly.

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2017-11-23 03:42:44 -0600 )edit

I do not need to do anything on the code if I mount my laserscanner on a vehicle? do not I have to create a moving tf instead of a fixed tf? because now, my laserscanner rotating on a base frame like this https://hizliresim.com/Mab1D6 I also sent a mail you about this problem Mr. Kohlbrecher

Mekateng gravatar imageMekateng ( 2017-11-23 05:30:14 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-11-24 03:52:22 -0600

The recommended way would be adding the LIDAR setup to the URDF model of your robot. You can find the URDF tutorials here. You then just need to publish the required joint state for the rotating joint of your setup and you should be all set.

A (perhaps relatively complex) real-world example is the rotating LIDAR macro we use for our Tracker robot. See tracker_spinning_lidar_mount.urdf.xacro.xml. The macro is instantiated (i.e. used for actually adding the rotating LIDAR to the robot model) here in tracker_structure_addons.urdf.xacro.xml. Note this setup is relatively complex because it also provides ability to define calibration of the LIDAR on the spindle as well as full Gazebo simulation capability.

edit flag offensive delete link more

Comments

I have already created a basic urdf according to the model I showed in the picture. file:///home/ahmet/catkin_ws/src/lidar_package/urdf/tilt_mech.urdf (thats my urdf model) I will put this model on a golf car. how do I edit this code? I am so sorry I am very new about ROS.

Mekateng gravatar imageMekateng ( 2017-11-24 04:08:23 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2017-11-23 02:29:12 -0600

Seen: 420 times

Last updated: Nov 24 '17