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Merge Output of Ultrasonic Sensor with Turtlebot3's Lidar Output for Navigation on Local Cost Map

asked 2022-03-12 15:39:08 -0500

Kaveh gravatar image

updated 2022-04-30 13:44:05 -0500

lucasw gravatar image

How to Merge Output of Ultrasonic Sensor with Turtlebot3's Lidar Output for Navigation on Local Cost Map.

Here is local_costmap_params.yaml:

local_costmap: global_frame: odom robot_base_frame: base_footprint

update_frequency: 10.0 publish_frequency: 10.0 transform_tolerance: 0.5

static_map: false
rolling_window: true width: 3 height: 3 resolution: 0.05

And here is costmap_common_params_burger.yaml:

obstacle_range: 3.0 raytrace_range: 3.5

footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]

robot_radius: 0.105
inflation_radius: 1.0 cost_scaling_factor: 3.0

map_type: costmap observation_sources: scan scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

Would you Please Assist?

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@Humpelstilzchen, I would appreciate if you can Assist.

Kaveh gravatar image Kaveh  ( 2022-03-12 15:40:11 -0500 )edit

2 Answers

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answered 2022-05-03 09:38:19 -0500

Sid05 gravatar image


You can integrate the ultrasonic sensor into the costmap using the plugin

Hope it helps!

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answered 2022-05-01 20:23:05 -0500

Darby Lim gravatar image

Hi, Kaveh :)

You can make a new node whose laserscan publisher combined data and it subscribes laserscan and ultrasonic data. If tf from base_scan to ultrasonic_link exists, one or two points-data from laserscan- would substitute for ultrasonic data.

In addition, you can use a laserscan_multi_merger node on the ira_laser_tools package. It provides combined data from multiple laserscan messages through a pcl or a laserscan message.

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Asked: 2022-03-12 15:39:08 -0500

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Last updated: May 03 '22