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Will layer standoffs cause problem with YDLIDAR X4 for SLAM?

asked 2021-06-12 20:59:19 -0500

RobotDreams gravatar image

updated 2021-06-12 20:59:55 -0500

I want to mount my EAI YDLIDAR X4 360 Degree 2D LIDAR on one of the lower layers of my home robot. The LIDAR claims minimum ranging distance to be 0.12 meters (12cm), so if there are standoffs that hold the upper layers 1-2 cm from the unit will it cause a problem with localization or mapping?

ROS 2 Foxy Ubuntu 20.04 Server Raspberry Pi 3B+

/__________\
| YDLIDAR |
| ________ |
| Processor |
| ________ |
O..............O

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answered 2021-06-13 01:13:35 -0500

parzival gravatar image

It should not be a problem.

If it causes any issues, you can use laser_filters, more specifically look here: http://wiki.ros.org/laser_filters#Las...

This will remove all points within a box, by setting it to NaN

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Asked: 2021-06-12 20:59:19 -0500

Seen: 170 times

Last updated: Jun 13 '21