elva's profile - activity

thank you for the reply,your example make it easier for me to understand but my problem is : the laser tilts horizontally , the first scan can detect the ground and ceiling already,so the z value doesn't change. and i didn't move the robot ,btw i use laser_assemble to collect the point cloud:)

Hi, i am using octomap to construct 3D mapping with a tilt laser scanner.The color of the octomap_sever is correct at the first scan however if the laser remains in the same place,after a while the color of different height tend to change to same color.btw ,the parameter "height_map" i have set it to true, what should i do to solve this problem? thank you!

hi, also have the color changing problem in octomap, the color seems to be ok at the first scan,however after a while the color in different height tend to change to the same color .may i know how did you solve this problem?thks:)

I am using hokuyo (URG-04LX) + imu (3DM-GX3-25) and a mirror for height estimation to do 2D hector mappping and octomap to perform 3D mapping.all the frames transform are ok now . i know my hokuyo scan rate is not high enough,but this is the only laser scan i have. when i tested it around my lab, after turning the second corner map is not 90 degrees and become messy.i know that imu only provide pitch and roll data to hector mapping,now i am trying use imu data for yaw angle to help the hokuyo and hector map perform better,but do not know how.

i use a hector_imu_attitude_to_tf_nodein hector_slam package,but imu seems only provide pitch and roll angle to hector_mapping, i also want to use it with yaw angle, because when i held the hokuyo in hand and turn the slowly in a cirlce, the map did not match

I am doing a project quite similar to that video in real world, i have a hokuyo(URG-04LX),on which there is a mirror for height estimation, i also have a imu(3DM-GX3-25) attached to my hokuyo,since i want to apply themon a quadrotor to do 2.5 mapping using octomap sever.but the 2D map overlaps.

Really thank you for replying^^ The frames problem i have solved,however, the laser scan still can not match well, therefore the map overlaps sometimes, i am now trying to use the imu data :yaw angle to help my hokuyo works better ,any help?thank you:P

May i know how the tf works?when i added imu and hector_imu_attitude_to_tf ,besides the previous 2 tf there is one more tf : 3. -/base_stabilized → /lase_footprint. but there is warning: no transform from base_footprint to map and No transform from [/base_stabilized] to frame [/map].how to fix it?

Hi, have you figure it out how to do it? i have a hokuyo URG-04LX and an imu ,however the mapping is not very good:)

thank you for your reply^^i have an microstrain imu, is it correct that i add hector_imu_attitude_to_tf _node and microstrain_3dmgx2_node into my launch file? In addition, I found a video which perform what i want to do ,http://www.youtube.com/watch?v=quqF5_ZE_fI,he also use 5.6m 10hz 2D lidar.

I am doing hector mapping using a hokuyo URG-04LX ,i hold the hokuyo in hand,moving it slowly ,but the mapping result is not very good,it is not accurate and clear,always overlaps. My launch file is following the mapping_default.launch which is inside the hector mapping.And i use only hokuyo_node and hector_mapping node .the tf seems to be ok,the tf tree is : 1. -/base_link → /laser 2. -/map → /scanmatcher_frame

Is there any way to solve the problem?

Hi, have you sovled the problem? because i have the same problem as you, i have a hokuyo UGR-04lX and a microstrain imu,however when i use hokuyo doing hector-mapping,ht map overlaps and very messy,any help?

the reason why my mapping overlaps is that the laser scan does not match, but i know hector mapping no need laser scan match node right? is there any way to solve it ?really appreciate you reply^^thank you.And my email is : elva2011@hotmail.sg, hope to hear from you by email:)

i have followed the setup, using the second one" Use without odom frame",however even i only use hokuyo node and hector_mapping node,and a tf name="base_to_laser_broadcaster" ,but the map overlaps,in a mess:( do you use any other node?thanks

Hi,Kent,i am doing 2D hector mapping,i have the same problem as the picture you posted.but your map with hector mapping was good,may i know how you did it ,especially the tf tree.btw, i have a hokuyo URG-04LX and mircostrain 3DM-GX3-25 imu,thank you in advance^^

hi ,have solved your problem , i also got problems using hector mapping with laser scanner, my hector mapping in rviz is not accurate at all,it overlaps,is there anything i can do about it?

i have the same problem ,have you solved it?

I am trying the laser height estimation using a mirror and laser scanner as well as an IMU,but do not know how to write the tf for the launch file,and anyone know how the imu related to the system,thank you very much!!!

Hello everybody, Is anyone doing laser height estimation using hokuyo URG_04LX?After i connecting the laser scanner and imu,wanting to see the height information,but do not know the unit for all the statistics.and all the numbers seem to be very strange.in addition , i do not know what is the function for imu in height estimation and how to calculate the height.Really need help....thank you!