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How to Disable Lidar on Turtlebot3

asked 2022-04-18 12:38:28 -0500

Belghiti gravatar image

Hi! I want to compare the performance of Odom(wheels) and Lidar. I managed to examine the accuracy of the lidar while the Turtelbot3 is not moving. Now I'm trying to investigate how accurate the odom is without interference from lidar. Is there a way to turn off the lidar while navigating?!

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answered 2022-04-19 07:09:51 -0500

Asad775889 gravatar image

I think, if you comment out launch file for it i.e. turtlebot3_lidar.launch in turtlebot3_bringup, then it should work fine.

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Thank u so much! im gonna try that.

Belghiti gravatar image Belghiti  ( 2022-04-19 08:55:56 -0500 )edit

answered 2022-04-19 04:08:54 -0500

ljaniec gravatar image

I think it depends on the navigation stack being used. If this is your implementation, you can just ignore the LiDAR information.

Can you add more details in the question?

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(If not in simulation) Just unplug the lidar USB, It will still bring-up properly and save some battery as well ;)

aarsh_t gravatar image aarsh_t  ( 2022-04-19 04:24:30 -0500 )edit

@ljaniec first of all thank you so much! And to be more specific as I mentioned I am testing the accuracy of the Turtlebot3 for further use in a reinforcement learning project. First I used a node that makes the robot move forward a certain distance, then I noticed that the robot drives with a certain deviation and not exactly forward, or it sometimes stops and spins at the end of the target, so I figured it was cause od the two sensors being combined, and it would be better to test each one individually. So far, as I said, I've been testing the lidar while the robot isn't moving, and now I'm trying to analyze the wheels while moving the Turtlebot3 in a direction and then recording it in a bag file... is there a proper way, to all of that? I'd be so grateful!

Belghiti gravatar image Belghiti  ( 2022-04-19 09:29:54 -0500 )edit

@aarsh_t im unfortunately using Simulation right now!

Belghiti gravatar image Belghiti  ( 2022-04-19 09:32:03 -0500 )edit

Just to be sure - do you know about recovery behaviors in Navigation stack? These rotations could be a part of it. You can read about it there.

ljaniec gravatar image ljaniec  ( 2022-04-19 12:58:56 -0500 )edit

I have seen these type of issues on the actual robots but in simulation its strange! Can I ask if you are using navigation stack or your own path planning algorithm?

In real life when we face issue like this, we try to set low P gain. Because even at near the goal robot is going at high speed due to high P gain and it cause the robot to never reach the actual goal and just encircles around it.

aarsh_t gravatar image aarsh_t  ( 2022-04-19 13:14:55 -0500 )edit

@ljaniec Thanks again! and yes I've seen it before but I'm ashamed of myself I have to say because I can't use it! I still can't figure out how to configure or use ros parameters!

Belghiti gravatar image Belghiti  ( 2022-04-23 12:50:30 -0500 )edit

@aarsh_t Thanks a lot! im gonna try this...

Belghiti gravatar image Belghiti  ( 2022-04-23 12:51:53 -0500 )edit

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Asked: 2022-04-18 12:38:28 -0500

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Last updated: Apr 19 '22