Header in LaserScan message for SICK S300 Laser
I'm trying to tune the localization system on my robot. I came over this tuning guide in which it is proposed that the header in the LaserScan message must be configured correctly (section 5.1). My question is where do I configure these parameters?
I've also tried to find someone who have implemented the ROS navigation stack on the Pioneer LX robot with the SICK S300 laser in order to get a starting for tuning the relevant parameters (primarily AMCL and move_base), however, I haven't found anything yet. Any help is therefore greatly appreciated!
Asked by fendrbud on 2020-02-11 08:04:03 UTC
Answers
The parameters for the sensor_msgs/Laserscan messages must be set in the respective LiDAR driver. This is not something that can be "tuned" for the navigation, but is rather something that is inherent to the LiDAR model and its configuration.
For the Sick S300, you can e.g. use the cob_sick_s300 package (there are others, obviously), which either reads most of the data from the provided data stream or is configured internally without any parameters that can be set from the outside (i.e. ROS). This wouldn't make any sense, for most, as those two have to fit together anyways.
You can obviously check if your LiDAR configuration matches the parameters, if this is not the case, you can adjust the respective driver from source. But this is not something you do somewhere in the Nav stack...
Asked by mgruhler on 2020-02-11 08:12:45 UTC
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Ok, thanks. I will try to implement the cob_sick_s300 package. Until now I have just used the LaserScan coming from the ROSARIA package with no filtering or configuration.
Asked by fendrbud on 2020-02-12 04:06:31 UTC
Well, you can still use the one from there. I don't think that this should be an issue. As said, the driver needs to provide the respective values. So everything should be there.
Asked by mgruhler on 2020-02-12 04:19:56 UTC
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