How to adjust lidar or motor position?

asked 2020-09-10 09:27:23 -0500

argentum2f
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I have a turtlebot3 - if I adjust the position of the lidar (physically), which file(s) do I need to edit to update the physical location of the lidar with respect to the rest of the robot?

Similarly, if I were to adjust the position of the motors, which files/parameters would need to be updated?

I've also read (somewhere) that small offsets in the Lidar position could lead to bad navigation/amcl behavior - is there a simple recommended process for calibrating that? Or just measure carefully?

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There is a file in there somewhere that creates a static transform between the laser_scan frame and the base_link frame, and that transform needs to be adjusted when the laser moves.

billy ( 2020-09-10 12:02:17 -0500 )edit

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answered 2020-10-13 03:19:59 -0500

bfdmetu
85 ●15 ●24 ●26

updated 2020-12-29 13:50:19 -0500

jayess
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You have to change your urdf file. I am not sure but it should be in description folder. In urdf file, there "lidar or scanner" joint. In this joint, there is origin part. I give you an example of my robot ( not turtle bot) ... You can find your file and change x,y,z coordinate

<joint
    name="laser"
    type="fixed">
    <origin
      xyz="0.636708500922716 -0.00935484081734 0.078189004081027"
      rpy="3.1415 3.1415 3.1415" />