Question about lidar sensor. about mrs_uav_system HOT 11 CLOSED

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

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http://letmegooglethat.com/?q=rplidar

But jokes aside, it is a rplidar A3 - https://www.slamtec.com/en/Lidar/A3

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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!

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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.

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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.

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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.

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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!

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Yeah, looks like we have some bug there. Switch to "--enable-ouster" instead of velodyne, that one should work normally.

Cheers, Dan H.

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Hi all,
@DanHert have you been able to test the velodyne in RviZ?

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Hi,

velodyne was fixed in 297f0ba.

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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.

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