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hector_slam with Sick TIM561

asked 2018-03-05 05:36:15 -0500

fehlfarbe gravatar image

updated 2018-03-05 10:45:10 -0500


we are working with a robot in a garage or production hall environment to test some car sensors. For mapping we tried an RPlidar (360°) with hector_mapping which is working very well out of the box. Unfortunally the RPlidar has problems to detect parts with black paint or car tires so we tried an Sick TiM561-2050101 which has an angle of 270° and better resolution. Despite the higher frame rate (10Hz vs. 15Hz) and better resolution (0,9°/~400pts vs. 0,33°/~800pts) hector_mapping can't match the map on rotations. It's only working on very slow speeds. Mapping with linear movement seems to work on moderate speed. We tried:

  • reduce the frame rate
  • reduce the number of points
  • moved to a faster computer (from UDOO x86 Ultra on the robot to Intel NUC with i7 cpu)
  • reduce the FOV

The laser data and slam_cloud is published with ~15Hz.

Why does it work out of the box with RPLidar but not with the Sick LIDAR?

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answered 2018-03-19 08:51:42 -0500

fehlfarbe gravatar image

The solution was simple. We have an UDOO x86 Ultra on the robot where hector_slam is running and a control computer (Intel NUC) where the roscore and several other nodes are running. It seems the WiFi was too slow for the higher fps laser data (even with reduced points/fps/fov). We changed our access point from TP-Link Archer C5 to an Ubiquiti and now it's working great.

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Asked: 2018-03-05 05:36:15 -0500

Seen: 360 times

Last updated: Mar 19 '18