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How to avoid certain angles using lidar for Turtlbot

asked 2019-06-10 04:14:16 -0500

Tima1995 gravatar image

updated 2019-06-10 04:51:47 -0500

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?

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answered 2019-06-10 07:03:49 -0500

gvdhoorn gravatar image

updated 2019-06-10 07:03:58 -0500

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.

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Asked: 2019-06-10 04:14:16 -0500

Seen: 26 times

Last updated: Jun 10