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SLAM when some of lidar measurements are blocked by robot structure?

asked 2018-12-16 08:35:10 -0600

Hello World gravatar image

Hi? I'm doing SLAM and Navigation thing with my turtlebot3-based robot.

Software is the same, but I made my own one by 3D modeling & printing.

In my robot design, lidar is hidden, but lidar measurement is ensured by making some cracks.

However, as you know, crack cannot be 360 degrees.

My robot can measure with lidar areas in 360 degrees other than areas blocked by four pillars

How do I remove these four pillars in SLAM?

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answered 2018-12-16 11:04:12 -0600

You should be able to filter these points out using a laser filter nodelet, specifically the range filter should do what you need. I'm assuming the pillars you want to filter out are within the robot's body so you know there will not be any obstacles closer than they are.

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Asked: 2018-12-16 08:35:10 -0600

Seen: 288 times

Last updated: Dec 16 '18