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erik-nelson / blam

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Hokuyo 2D Lidar #9

Open athtest800 opened 8 years ago

athtest800 commented 8 years ago

Hello! I have a Hokuyo 2D Lidar. Is it possible to use it with your software? Or it is only for velodyne? Thank you!

kilmarnock commented 7 years ago

Hi! I tried the Hokuyo 2D variant by converting the scan to a point cloud. While the point cloud delivers correct xyz values (the cloud is visible in rviz), the /blam/blam_slam/octree_map is always 2D, the third dimension is not corrected by the system, the scans are just projected to the map surface. This leads to wrong results as the scans to a wall lead to more than one scan line. I do not think that this has necessarily to be like this, but I observe this behaviour now.