How to avoid certain angles using lidar for Turtlbot
Due to layout requirements, I had to mount the LDS-01 sensor in the middle of my turtlebot3. So far, it does not affect SLAM and navigation actions. Nevertheless I can see the metal bars of the robot structure as small points when I perform SLAM actions, but they are, as said above, not marked as obstacles. Still, I want to "delete" those metal bars to get clean results. I would guess to find the Sensor driver and try to skip those areas. Still, I first need to find this driver. By going to the launch file I got the name of the driver:
~/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch$ vi turtlebot3_lidar.launch
<launch>
<arg name="set_frame_id" default="base_scan"/>
<node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
<param name="port" value="/dev/ttyUSB0"/>
<param name="frame_id" value="$(arg set_frame_id)"/>
</node>
</launch>
But I did not make it to find the driver in the ROS system (sorry, I am still new to ROS). So my question is, how can I find the driver in order to change it and how would you approach to avoid angles?
Asked by Tima1995 on 2019-06-10 04:14:16 UTC
Answers
I would guess to find the Sensor driver and try to skip those areas.
No. You should not change the driver.
See laser_filters for a package that can post-process (or pre-process, depending on how you look at it) LaserScan
messages to filter out certain undesirable bits of data.
See #q306637 for an older Q&A dealing with a similar issue.
Asked by gvdhoorn on 2019-06-10 07:03:49 UTC
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