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lidar is detecting pillars of robots as obstacles in local to set minimum range of scan sensor or any other method to solve this problem

asked 2020-01-21 04:24:03 -0500

vishrut gravatar image

i have placed my rplidar a1 sensor in the middle of 4 pillar robot. now during navigation it detecting pillars as local obstacle.please help

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answered 2020-01-21 09:17:30 -0500

tryan gravatar image

updated 2020-01-21 09:19:26 -0500

Are you talking about a local cost map? If you are using the obstacles layer, there is a footprint_clearing_enabled parameter, which defaults to true. Make sure it is not set accidentally set to false. If it's still not clearing, ensure that your footprint is properly defined. This is also important for avoiding obstacles in general.

That said, the laser_filters package (as Procópio suggested) is probably also useful as it will remove the pillars from the data stream completely. This will likely improve the quality of SLAM and other applications of your lidar data.

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answered 2020-01-29 05:54:05 -0500

vishrut gravatar image

I got the solution that exporting urdf from solid work will solve the problem .And then no need to use laser_filter package

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answered 2020-01-21 05:34:26 -0500

Procópio gravatar image

You can filter it using the laser_filters package. See an example here:

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is there any possibility of clearing from mesh and urdf

vishrut gravatar image vishrut  ( 2020-01-21 05:52:32 -0500 )edit

what do you mean?

Procópio gravatar image Procópio  ( 2020-01-22 06:30:24 -0500 )edit

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Asked: 2020-01-21 04:24:03 -0500

Seen: 47 times

Last updated: Jan 29