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LaserScan Message vs MultiEchoLaserScan Message [closed]

asked 2018-07-26 06:32:01 -0600 gravatar image

Hi I want to compare cartographer and gmapping. Gmapping uses LaserScan Message and cartographer uses MultiEchoLaserScan Message for Lidar data. What is difference between them?

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close date 2018-10-28 18:24:00.413057

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answered 2018-07-26 11:26:55 -0600

The standard Laser scan message describes only a single returned depth and intensity value for each laser pulse, this is usually the most intense if there are several but this depends on your sensor hardware.

Multi-echo sensors are able to return several echos for each pulse emitted by the laser. For example if you scan through a window you will often pickup an echo from the glass as well as the wall behind it, or at the boundary of two objects at different depths you can receive two echo's for the depth of each object. This additional information gives you more points which can be used to create your map and localise the robot. So a node that receives multi echo laser scan messages can use this type of sensors to their full potential.

Hope this helps.

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Hi Pete, may I know which sensor will give me the MultiEchoLaserScan sensor msgs? like which brand and which type, many thanks.

tianb03 gravatar image tianb03  ( 2018-11-22 21:54:02 -0600 )edit

Can you ask this as a new question. An old closed question is not a good place for this.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-11-23 04:01:15 -0600 )edit

Hi Pete, as you suggested, post a new question here

tianb03 gravatar image tianb03  ( 2018-12-17 00:24:47 -0600 )edit

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Asked: 2018-07-26 06:32:01 -0600

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Last updated: Jul 26 '18