Hi! I am a Msc student in China, and trying to use a UAV, assembled

Need some debug guide. about laser_line_extraction HOT 3 CLOSED

kam3k commented on May 25, 2024

Need some debug guide.

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Comments (3)

kam3k commented on May 25, 2024

I'm just letting you know that I believe the problem is because your laser scans have

angle_min: 3.92499995232
angle_max: -0.785000026226
angle_increment: -0.00873840413988

That is, you have angle_min > angle_max and a negative angle_increment. I didn't anticipate this when writing the package, but I'll look into fixing it.

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kam3k commented on May 25, 2024

I've fixed the issue and was successfully segmenting lines with your data using this configuration file:

<launch>
  <node name="line_extractor" pkg="laser_line_extraction" type="line_extraction_node" output="screen">
    <param name="~frequency" value="30.0" />
    <param name="~frame_id" value="rplidar_link" />
    <param name="~scan_topic" value="/scan_filtered" />
    <param name="~publish_markers" value="true" />
    <param name="~bearing_std_dev" value="1e-5" />
    <param name="~range_std_dev" value="0.012" />
    <param name="~least_sq_angle_thresh" value="0.0001" />
    <param name="~least_sq_radius_thresh" value="0.0001" />
    <param name="~max_line_gap" value="0.5" />
    <param name="~min_line_length" value="0.7" />
    <param name="~min_range" value="0.5" />
    <param name="~min_split_dist" value="0.04" />
    <param name="~outlier_dist" value="0.06" />
    <param name="~min_line_points" value="10" />
  </node>
</launch>

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