Ask Your Question

Mondiegus's profile - activity

2018-03-28 21:04:56 -0600 received badge  Famous Question (source)
2017-01-31 17:14:37 -0600 received badge  Notable Question (source)
2016-11-13 11:51:01 -0600 received badge  Famous Question (source)
2016-11-13 11:51:01 -0600 received badge  Notable Question (source)
2016-08-24 20:22:30 -0600 received badge  Popular Question (source)
2016-07-23 10:28:48 -0600 received badge  Enthusiast
2016-07-20 09:28:44 -0600 asked a question ROS+RPLIDAR +pipeline = 3D

Hi, I need some help. I have to do 3D scan using RPLidar 360 but... for this moment I know i have to make some external system and connect it with a SIMPLE stepping motor. This is my task and i have to do this in this kind of way. I have already done 2D slam, I can generate point cloud from my scans and turn it in to right way(the scanner will be mounted horizontally). My problem is.... I will control my motor by some simple ATmega (8A possibly) so I know how fast it will rotate. I have to modify my files(propablly in laser_pipeline), because I thought... if I know how fast my scanner will rotate I could simply enter this data to my program to rotate every next line in my cloud. What do you think about that idea? Does someone have any idea how to do this? I have been trying to do this for last week...

PS. I know I can do this by IMU and it will be much simplier but i can't do this :P

2016-06-24 04:46:39 -0600 received badge  Popular Question (source)
2016-05-25 17:30:22 -0600 asked a question RPLIDAR+hector slam+laser pipeline

Hi everyone, i have very big problem... I'm using RPLIDAR 360° Laser Scanner to get the 3d map. In this moment I'm using rplidar_ros and hector_slam library to get 2d mapping in rviz. Everything is working but I have problem with laser_pipeline. Normally when I am using hector_slam i have generated laserscan(/scan) and PointCloud(/slam_cloud). In theory it should be easy to use laser_pipeline libraries but... if I am doing everything like in this tutorial ( ) or if I am using original, not modified repository I always get only a circle of points like here: image description . Does anyone have any idea what am I doing wrong?

I am just a beginner so, if you need some of my files(I didn't modified any of them right now :) ) or have any propositoins about other library which I should use, please, tell me :)

Edit1: OK, I know why i have this points. It is because I am using "dummy_scan_producer" but honestly i have completly no idea how to use my data from my RPLIDAR 360... Anybody has any idea? Any solution?

2016-05-19 03:57:04 -0600 received badge  Famous Question (source)
2016-05-03 07:12:33 -0600 received badge  Notable Question (source)
2016-05-03 02:58:13 -0600 received badge  Student (source)
2016-05-03 02:57:23 -0600 received badge  Popular Question (source)
2016-05-02 10:23:59 -0600 asked a question Ros indigo + RPLIDAR 360 + Hector SLAM

Hi everyone, I'm new in this topic. I've installed SDK for my laser scanner, RPLidar to talk with ROS and Hector_SLAM, but... now I need to make a complete map like in this video: , but i can't get anything in rviz. I have connection with scanner because when i'm running view_rplidar.launch I can see some data. I can load some bagfile and see someone's map, according to this page:

I found this page, done everything like in instruction but still nothing:

Only error from rviz is: No tf data. Actual error: Fixed Frame [map] does not exist

My mapping_default.launch file:


<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame" default="nav"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>

<include file="$(find rplidar_ros)/launch/rplidar.launch" /> 

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> 

    <!-- Frame names -->
<param name="map_frame" value="/map"/>
<param name="base_frame" value="/base_frame"/>
<param name="odom_frame" value="/base_frame"/>
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="true"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>

    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <!-- Debug parameters -->
      <param name="output_timing" value="false"/>
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 /base_frame /laser 100"/>

<!-- this publishes the transform between the base and laser -->

<!--<node pkg="tf" type="static_transform_publisher" name="base_laser_broadcaster" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_frame /laser_frame 40"/>-->


Screenshoot from rqt_graph: screenshot

I'm trying to deal with this for a week and I'm out of any ideas... Did anyone had this problem?