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Question about laserscan and hector_slam mapping

asked 2019-05-23 15:19:15 -0500

xj yang gravatar image

updated 2019-05-23 16:39:37 -0500

Hello, I am using hector slam to build the map with original balgfile odometry data.

The picture is the result with delayed laserscan data overlayed on map. I have set laser_z_min_value=-200, laser_z_max_value=200, laser_min_dist = 0 ,laser_max_dist=200 in the launch file, by which I think all the scan data has been included to build the map.

My question is: what does the color of laserscan particles in Rviz mean? As for area of ① ⑤, the red particles form a boundary, while ② ③ ④ have no red particle(maybe some orange particles), and there is no boundary formed at all. If the color represents the particles of the same height, then why area ④ with high density of light green particles forms no boundary?

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what picture are you refering to?

billy gravatar image billy  ( 2019-05-23 18:28:30 -0500 )edit

The picture I uploaded...

xj yang gravatar image xj yang  ( 2019-05-24 00:20:53 -0500 )edit

hmm, no picture for me.

billy gravatar image billy  ( 2019-05-24 12:32:02 -0500 )edit

That's weird

xj yang gravatar image xj yang  ( 2019-05-24 15:07:34 -0500 )edit

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answered 2019-05-24 04:00:53 -0500

curi_ROS gravatar image

In RViz->Displays->Laser Scan->Color Transformer, you can set the laser scan colours to reflect the intensity of the laser scan. The colour depends on the intensity of the laser scan message received; first, the intensity at each point is normalised, and then a colour is computed based on that intensity. You can read more on the rviz wiki.

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Thank you!

xj yang gravatar image xj yang  ( 2019-05-24 12:14:21 -0500 )edit

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Asked: 2019-05-23 15:19:15 -0500

Seen: 193 times

Last updated: May 24 '19