Sensor Calibration - Hokoyu Lidar
Hello guys,
I am working with Husky A200 (Unmanned Ground Vehicle). It has got Hokoyu Lidar in it. I am planning to calibrate the Lidar data (Autocalibration exactly). When the Lidar is powered on, it should calibrate itself, and if there is any deviation in the value, it should then correct itself to the reference value.
Has anyone done this before. Any help would be highly appreciated. Thanks in advance.
With Regards, Arjun
Asked by Arjun PE on 2012-06-13 04:52:48 UTC
Comments
What parameters are you trying to calibrate about the lidar? If it's mounted in a fixed position on the robot, then that only needs to be calibrated once and added to the robot's tf tree (or URDF model). I've never needed to calibrate anything else with our hokuyos.
Asked by Dan Lazewatsky on 2012-06-13 08:19:34 UTC
For reference, Husky URDFs can be acquired here: https://github.com/clearpathrobotics/clearpath_husky/tree/master/husky_description/urdf
Asked by Ryan on 2012-06-14 15:09:37 UTC
@Dan Lazewatsky --- Thank you for your reply. The hokoyu ls mounted in a fixed position on the robot. I want to calibrate it once and as you said , add it to the robots tf tree (or URDF model). Help would be highly appreciated. Thanks in advance.
Asked by Arjun PE on 2012-06-14 22:26:14 UTC
@Ryan - Thank you. I will try this.
Asked by Arjun PE on 2012-06-14 22:32:56 UTC