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The backpack demo_2d cartographer uses MultiEchoLaserScan Message for Lidar data. I wanna know that which sensor is giving out this kind of data? I want to have this configuration for large area mapping also.
Hokuyo UTM-30-LX-EW supports multi-echo mode.
Just randomly find out this and reminds me I asked a question here. Hope can help someone who is playing with cartographer and wondering the same thing. Below are the two ref links.
https://acroname.com/blog/hokuyo-lase... https://answers.ros.org/question/1990...
I know this is an old question, and I don't know which sensor produces MultiEchoLaserScan. But if you need, you can use standard LaserScan messages. Just change your .lua config file:
num_laser_scans = 1, num_multi_echo_laser_scans = 0,
After that just post LaserScan to "scan" topic. If your messages come from another topic name, remap in .launch file:
<remap from="scan" to="/my_laser_scan_topic" />
Asked: 2018-12-17 00:23:46 -0500
Seen: 633 times
Last updated: Apr 22 '20
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