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Limit the LDS range scan on the TurtleBot3

asked 2020-01-18 05:55:15 -0600

ROS version: Kinetic Robot: Turtlebot 3 waffle_pi

Hello, I am a newbie to ROS and I am trying to implement DQN based machine learning system to avoid moving obstacles with Turtlebot 3 waffle_pi. Turtlebot3’s LDS default range is set to 360 but I want to modify it to 24 as it is the requirement of the example. I managed to do this modification for a Gazebo simulation by editing the following file.

turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro

  <samples>360</samples>            # The number of sample. Modify it to 24

Now I want to use this system on my real Turtle bot 3. How can I change this parameter on my real TB3? Is there a file to be modified in the raspberry pi sd card?

Any help and suggestions are highly appreciated. Thanks in advance.

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answered 2020-01-18 22:48:12 -0600

Essentially, that’s the number of rays to use. You can do one of a number of things:

  1. Create a middle node between DQN and the sensor to downsample the rays into a new sparse scan
  2. I believe Laser Filters may help with this
  3. Have your ML mode take in laser scans and downsample them.
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Asked: 2020-01-18 05:49:41 -0600

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Last updated: Jan 18