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How to have LiDAR Sensor Data Show More Clearly?

asked 2021-10-05 15:55:13 -0500

tasuminagorashi gravatar image

updated 2022-03-03 09:42:48 -0500

lucasw gravatar image

It's my first time using a LiDAR sensor, and when I try to visualize the data(i.e. scan the room), all I get is a few lines. Nothing is defined as I thought it'd be and I'm not sure how to show / get a more clear image of a scanned object. Does anyone know how I can get a defined scan of an object other than 3-5 small lines? Any help is appreciated.

LiDAR Sensor: Hokuyo utm 30lx ROS: Kinetic RVIZ to visualize the scanned data.

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answered 2021-10-06 18:42:23 -0500

miura gravatar image

Since this is your first time using a LiDAR sensor, I thought I would answer if it might be possible.

The Hokuyo utm 30lx is a 2D LiDAR, so it senses only in the horizontal direction. In a tidy room, a few lines may be correct. ( as in this image )

If the sensing result you want is something like this image, then you need to get a 3D LiDAR sensor.

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answered 2021-10-06 06:55:49 -0500

Mike Scheutzow gravatar image

There are various reasons this could happen:

  • in rviz, you can configure the size and color of the individual laser scan points. Make sure you have set the points big enough to see.
  • rviz draws the scan relative to the robot's calculated x,y position. If the robot position is wrongly calculated, the scan may be drawn outside the window. Zoom out on the map to check for this.
  • A lidar has a maximum range. If a wall or obstacle is too far away for the lidar to see, that ray will not display a point.
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Asked: 2021-10-05 15:55:13 -0500

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Last updated: Oct 06 '21