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yujinrobot / yujin_lidar

all sources for the Yujin lidar
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Scanning Frequency of Yujin Lidar YRL3-20 #14

Open MarcusJYLee opened 3 years ago

MarcusJYLee commented 3 years ago

Greetings! Would like to know if it is possible to increase both the horizontal and vertical scanning frequency. I understand that I can limit the vertical scanning range to increase the frequency but would it be possible for an even higher frequency of 20Hz? Also can i increase the horizontal frequency as well?

In addition, I would greatly appreciate any information on which mapping and navigation ROS packages that are compatible with a 3D Yujin Lidar sensor.

hyeonjeongkim2 commented 3 years ago

@MarcusJYLee

Hello, Marcus,

It is impossible to change the vertical and horizontal scanning frequency.

Also, we don't support any official software for SLAM, navigation and mapping.

But we can recommend you a open source package for SLAM to use with YRL3. (https://github.com/RobustFieldAutonomyLab/LeGO-LOAM)

MarcusJYLee commented 3 years ago

@hyeonjeongkim2 Thank you for the reply. I have tried the LeGO-LOAM package but however i cannot get it to work since it is optimized for Velodyne Lidars. I am getting this error

"Failed to find match for field 'ring'

Is there a 'ring' channel for the pointcloud2 data provided by the yujin lidar?

MarcusJYLee commented 3 years ago

@hyeonjeongkim2 I have realised that the field 'ring' in the velodyne lidar is for which laser is responsible for producing each point in the cloud. Does the yujin ldiar operate like that? If not please advise on a work around. Thank you.