Closed Gaoyuan-Liu closed 3 years ago
http://letmegooglethat.com/?q=rplidar
But jokes aside, it is a rplidar A3 - https://www.slamtec.com/en/Lidar/A3
Hey Dan, Sorry about the silly question. Yes, I also googled that but wanted to make sure ;) And could you please also give some information about what sensor/camera you are using currently to achieve obstacle avoidance, I also saw a long list in the urdf file about sensor/camera, but which one (or combinations for data fusion maybe) you will recommend using on a real-world drone (let's say F450 this time)? And what's the consideration of your preference?
Thanks again!
On our F450s, we use the rplidar for obstacle avoiodance. It is only a planar sensor, but that is enough in some enviroments. In more cluttered environments, we are using 3D lidars (mostly Ouster OS0), complemented by stereocameras (Intel Realsense).
Dan H.
Hey Dan,
I'm trying to use octomap to do mapping and path planning.
Is there any camera/sensor plugin written in urdf can generate /sensor_msgs/PointCloud2
data?
Thanks for your help.
Hello! You can use a 3D lidar in the simulation (add "--enable-velodyne" into the spawn command in simulation session file). It will output PointCloud2 directly. Alternatively, you can use a simulated stereocamera ("--enable-realsense-front" other orientations available) which will give you a depth image, but that can be converted to PC2 with http://wiki.ros.org/depth_image_proc The LaserScan data from rplidar can be also converted to PC2, with http://wiki.ros.org/laser_geometry
cheers, Dan H.
Hey Dan, Thanks a lot for your response! I just tried "--enable-velodyne", indeed, it can give a PC2 topic but there is an error in rviz: "Message Data size (333750 bytes) does not match width (0) times height (1) times point_step (25). Dropping message."
Maybe I also need some configuration before I use it directly?
Thanks!
Yeah, looks like we have some bug there. Switch to "--enable-ouster" instead of velodyne, that one should work normally.
Cheers, Dan H.
Hi all, @DanHert have you been able to test the velodyne in RviZ?
Hi, after adding the "--enable-realsense-front" to the simulation command, how can I see the image from rviz? Do I need to change some settings in rviz? Appreciate any answers. Thank you.
Hello, you definitely need to add manually all the data you want to visualize in RVIZ on your own. I believe using the RVIZ GUI is intuitive and straightforward, and does not need any more explanation. I can point you to http://wiki.ros.org/rviz for more information.
If you have an unrelated question to this issue, please either open a new issue or use discussions. Closed issues and PRs are no place for unrelated questions.
Best, Pavel
Hey Mrs team, I notice you integrated a laser scanner called "rplidar" in the drones (F550), I'm recently using it to detect obstacles. My question is what is the real-world lidar sensor you are using onboard? Since we are trying to build a counterpart real-world drone as the simulation.
Thanks for your help! : )
Gaoyuan