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reiniscimurs / DRL-robot-navigation

Deep Reinforcement Learning for mobile robot navigation in ROS Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.
MIT License
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How to change the scanning range of a simulated LiDAR to 360 ° #105

Closed manxunyu closed 5 months ago

manxunyu commented 5 months ago

Hello, thank you for your work. I referred to some questions raised by others about deploying to real vehicles. Regarding the scanning range of the LiDAR, I would like to ask how to change the scanning range of the LiDAR in the simulation (now -90 °~90 °) to the full range. Because the VLP16 lidar on my actual vehicle uses all 360 ° point clouds.

reiniscimurs commented 5 months ago

Hi,

You should be able to do that by changing the plugin values: https://github.com/reiniscimurs/DRL-robot-navigation/blob/main/catkin_ws/src/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro#L27

manxunyu commented 5 months ago

Perhaps I am blocking this setting can achieve the effect I want: min_ Angle="-1.57" max_ Angle="1.57"