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add two laser for navigation

asked 2012-05-15 10:55:11 -0500

updated 2012-05-15 12:41:57 -0500

Eric Perko gravatar image

hi all i want to use two laser scan device for navigation is it possible?

when i add two laser source in costmap_common_params.yaml only one of sources work!

how i must add my second laser device?

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answered 2012-05-15 11:16:55 -0500

DimitriProsser gravatar image

Below is the configuration that I used to successfully launch two observation sources in my costmaps. I'd guess you may have forgotten to add the second source to the list of sources in the observation_sources parameter.

observation_sources: sick_lms_1 sick_lms_2

sick_lms_1: {sensor_frame: sick_1,
        data_type: LaserScan,
        topic: /scan_1,
        expected_update_rate: 0.4,
        observation_persistence: 0.0,
        marking: true,
        clearing: true,
        min_obstacle_height: 0.0,
        max_obstacle_height: 2.0,
        obstacle_range: 9.0,
        raytrace_range: 10.0}

sick_lms_2: {sensor_frame: sick_2,
        data_type: LaserScan,
        topic: /scan_2,
        expected_update_rate: 0.4,
        observation_persistence: 0.0,
        marking: true,
        clearing: true,
        min_obstacle_height: 0.0,
        max_obstacle_height: 2.0,
        obstacle_range: 9.0,
        raytrace_range: 10.0}
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Asked: 2012-05-15 10:55:11 -0500

Seen: 463 times

Last updated: May 15 '12