(This is on Ubuntu 12.04 and Hydro, Turtlebot2 with kobuki.)
I just got a Robopeak RPLIDAR, and I'm working on mounting it to my turtlebot2. (I wanted a wider angle than the kinect could give me.)
As soon as the RPLIDAR is plugged into the USB slot, the motor starts spinning (This is without even having the driver loaded). The motor is enabled by the RS232 DTR signal. When the RPLIDAR ros node starts, it also sets the DTR signal to start the motor spinning.
I often have my turtlebot on for hours (days!) at a time, even if I'm not using it. I don't like the idea of the motor spinning for hours (days!).
I'm thinking of modifying the RPLIDAR ros node to implement a way to stop/start the motor. What do people think of these ideas?
1) Add a service to the rplidar node, with 3 messages: motor_on, motor_off, get_motor_status. The motor could be controlled from command line, or programatically.
2) Add a dynamic parameter to the rplidar node: motor_enable. Could still use command line or program to change.
3) Use a special case of the rplidar publishing rate. If set to 0 Hz, this would turn the motor off; if non-zero, motor would turn on.
(And I know the motor should be given time to warm up.)
thanks for your comments,
buddy
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Changing RPLIDAR laser scanner motor from being always on?
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ROS + Intel Galileo + RPlidar not working, but gives OK health status
Heya all, hopefully some of you can help me with this frustrating problem.
I am working with the project where I need to get indoor navigation data using RPlidar. The lidar is working fine with ROS when I'm connecting it to the development PC, but the idea is to get it running on Intel Galileo. RPlidar ROS package is installed with the instruction here: https://github.com/robopeak/rplidar_ros
Currently, Intel Galileo has Debian running without problems (installation instruction from the Wiki) and RPlidar is connected to the board with GPIO pins. The lanch file has been modified that serial_port is changed from default */dev/ttyUSB0* -> */dev/ttyS0* and all GPIO pins have been configured with the instructions shown here: http://www.malinov.com/Home/sergey-s-blog/intelgalileo-programminggpiofromlinux
ROS is running fine and RPlidar power led is on (but the actual motor is NOT spinning the lidar, so it is not working). When I'm launching the rplidar node with *roslaunch rplidar_ros rplidar.launch* there is no problems - health code is 0 and everything seems to be working. However, when I try to get data with *rosrun rplidar_ros rplidarNodeClient* - nothing happens. No errors, no warnings, nothing. And as I stated in previous command, everything seems to be normal - except from the motor is not running.
I tried to search for the solution without success, but I have absolutely no clue why it does not run. Have I done something fundamentally wrong or is there some major issues with rplidar package and Intel Galileo?
Looking forward to the solution and your respected help.
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The transform between /map and /base_link
While I try the gmapping with turtlebot2+rplidar laser range, there is a problem, then I try the commod below:
$ rosrun tf tf_echo /map /base_link
when I control the turtlebot2 move back, the X axis data should decrease, but in my work, it increases. And this results in my error gmapping.
My rplidr gmapping launch file is based on the kinect gmapping files.
So I want to know what causes this and what should I do to avoid this? thank you very much!!
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rplidar driver installation problem on Ubuntu
Apologies for posting here, but since robopeak's rplidar does not seem to have very much on the support side since it does appear to be R&D hardware. My ultimate goal here is to get RPLIDAR to work with rvis so I thought I would attempt as asking here.
I have attempted to get RPLIDAR to talk to Linuxmint 17 system and an Ubuntu 14.04 system. And when I run:
$ roslaunch rplidar_ros view_rplidar.launch
Error, cannot bind to the specified serial port /dev/ttyUSB0.
And the GUI warns:
No tf data. Actual error: Fixed Frame [laser] does not exist
I believe the problem is that the USB to UART driver is installed with root permissions because I get the same error when I run the rplidar example program:
$ ./ultra_simple /dev/ttyUSB0
Error, cannot bind to the specified serial port /dev/ttyUSB0.
But it runs correctly when I run the above command under root:
$ sudo ./ultra_simple /dev/ttyUSB0
theta: 151.48 Dist: 00124.75 Q: 10
theta: 152.72 Dist: 00126.00 Q: 10
theta: 153.95 Dist: 00127.00 Q: 10
theta: 155.19 Dist: 00128.00 Q: 11
theta: 156.41 Dist: 00130.00 Q: 11
theta: 157.64 Dist: 00132.25 Q: 10
theta: 158.88 Dist: 00134.00 Q: 11
theta: 160.11 Dist: 00137.50 Q: 10
theta: 161.33 Dist: 00141.00 Q: 10
Is there way to install the driver without root permissions? Below is how I installed the driver:
$ cd Linux_3.x.x_VCP_Driver_Source
~/Linux_3.x.x_VCP_Driver_Source$ make
~/Linux_3.x.x_VCP_Driver_Source$ sudo cp cp210x.ko /lib/modules/3.13.0-43-generic/kernel/drivers/usb/serial/usbserial.ko
~/Linux_3.x.x_VCP_Driver_Source$ sudo insmod /lib/modules/3.13.0-43-generic/kernel/drivers/usb/serial/usbserial.ko
$insmod: ERROR: could not insert module /lib/modules/3.13.0-43-generic/kernel/drivers/usb/serial/usbserial.ko: File exists
$sudo insmod cp210x.ko
Can I do a simple `chmod`? Or is there a way to run ROS as root? When I run it with `sudo` it get 'command not found':
/catkin_ws$ sudo roslaunch rplidar_ros view_rplidar.launch
sudo: roslaunch: command not found
Thanks!
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Localization problem with gmapping and RPLidar
Hello ROS community,
I'm working on a project which goal is to create an [autonomous mobile robot](http://geduino.blogspot.it/?zx=26b2e9d70329b947) running SLAM algorithm using gmapping. I'm using odometry from motors encoder and laser scan data from RPLidar. ROS Hydro is running on a UDOO board.
I complete the navigation stack setup and, as soon the robot is not moving, all seems to work fine (transformations published, map published, laser scan data published). When I move the robot using teleop the map->odom transformation broadcasted by gmapping seems to make no-sense. Better than other words is a [video of RViz](https://www.youtube.com/watch?v=KEykgJtSwNY).
Apart the localization problem I cannot understand why the odom and base_link frame are not overlapped after start. They don't should be?
Here the transformations tree:
Here the nodes and topics:
This the gmapping node configuration:
throttle_scans: 1
base_frame: base_link
map_frame: map
odom_frame: odom
map_update_interval: 10
maxUrange: 5.5
maxRange: 6
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
minimumScore: 0.0
srr: 0.1
srt: 0.2
str: 0.1
stt: 0.2
linearUpdate: 1.0
angularUpdate: 0.5
temporalUpdate: -1.0
resampleThreshold: 0.5
particles: 30
xmin: -10
xmax: 10
ymin: -10
ymax: 10
delta: 0.05
llsamplerange: 0.01
llsamplestep: 0.01
asamplerange: 0.005
lasamplestep: 0.005
transform_publish_period: 0.1
occ_thresh: 0.25
I will really appreciate any suggestion to fix my problem. I did not publish other configurations since the problem seems to be related to gmapping: if other informations are needed I will be happy to provide them.
Many thanks!
Ale
## UPDATE ##
As suggested by paulbovbel I follow the guide test odometer quality. The result is quite good for straight path, a little bit less for rotation.
Watching the video I think the problem could not be in odometry: in the video the first seconds (until time 0:08) after robot starts moving all seems to be fine. During this time the position is updated based on odometry only (at least... I guess!) and laser scan data (in red) match the map: this means that odometer data is quite good.
After 0:08 the map->odom transformation (broadcasted by gmapping) changes: in theory to compensate odometry drift but, at the end, it spoils the estimate position of the robot. After position estimation is spoiled also laser scan data make no sense and this cause builded map to be... a no-sense!
This make sense or I make some mistake in my think?
Just to give more info: the video show the robot just a minute after system starts. When the video starts the robot was stopped in its initial position: for this reason I expect base_link, odom and map frame overlap (drift must be zero and robot it's in center of map).
## UPDATE ##
I'm still working in order to fix this problem. I performed some test to check the quality of my odometry. On the attached image from RViz you can see the laser data impressions drawn during complete test (decay time = 120000): consider that the robot travelled from one side of the room and back to its start position. Is it a good result? I think yes since when the robot go back to start position the laser scan is really close to original and the result is really close to real room. Unfortunately I have other material to compare to...
[Here](https://www.dropbox.com/s/emn0i4cngmh88o4/laser_data.bag?dl=0) the bag file recorded during this test. I used it to run gmapping and I got this map:
I'm quite surprised to see that the raw laser scan data on odom frame represent the real world better than gmapping result! I expected gmapping to improve it...
Now I want to make some tests changing gmapping parameters. Has anyone some tips for me?
Thanks
Ale
## UPDATE ##
Looking for benchmark result of RPLidar I found this [video](https://www.youtube.com/watch?v=pCF7P7u8pDk) uploaded by RoboPeak. I was really surprised by the quality of result and disappointed when compare it with my own ones!
Since they was using hector_slam instead gmapping I tried the same and this is the result:
This is really good compared to gmapping result. I want to go in deep on this topic and understand why they performed so different. Any tips?
Thanks
## UPDATE ##
I'm working to some tests in order to find out how to improve gmapping performance in my robot. First test are conducted setting different values of minimum score param in gmapping.
Here the result:
The improvement with value of 500 is a fake: with this value gmapping rely in odometry only! So minimum score is not the solution.
For next test I want to use a scan filter in order to clean laser scan data and check if this can improve gmapping result.
For who is interested a benchmark of different SLAM algorithm available in ROS can be found [here](http://home.isr.uc.pt/~davidbsp/publications/SPR_SSRR2013_SLAM.pdf).
## SOLVED ##
At the end I found how to fix gmapping and RPLidar problem. The problem came out from different sources:
- the LaserScan message expected by
GMapping;
- the RPLidar reference
frame;
- the LaserScan message created
by RPLidar node.
[Here](https://github.com/afrancescon/rplidar_ros) there is the RPLidar node with fixes and [here](http://geduino.blogspot.it/2015/04/gmapping-and-rplidar.html) you can find more information about the fix.
In order to make RPLidar and gmapping work some attention is required broadcasting laser frame transformation. Please read the posted link for complete explanation.
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↧
Why RPLidar + gmapping has a bad result?
Now I have a turtlebot 2, and I want to build a map. As gmapping needs odometry, so I think it would have a better result than hector_mapping. As RPLidar has 360 degree while kinect has only 57 degree, so while gmapping, I think RPLidar would has a better result.
However, to my disappointment, the map builded by RPLidar is too bad!
I found that the map builded by rplidar + hector_mapping is really good.
But I really want to know why RPLidar + gmapping could not have a good result, does anyone know this?
Thank you !!
**My bagfile.**
[The bagfile](http://pan.baidu.com/s/1mg7l8Yc)
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rplidar_ros on raspberry pi
Hi all,
I am trying to build rplidar_ros package on raspberry pi running raspbian OS using catkin_make_isolated with indigo distro and even though catkin_make_isolated seems to work without failures, it does not build the executables. Or maybe it builds it somewhere else where ROS cannot find them. Here the output of catkin_make_isolated:
==> Processing catkin package: 'rplidar_ros'
==> Building with env: '/opt/ros/indigo/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/pi/ros_catkin_ws/build_isolated/rplidar_ros'
==> make -j4 -l4 in '/home/pi/ros_catkin_ws/build_isolated/rplidar_ros'
[ 16%] Built target rplidarNodeClient
[100%] Built target rplidarNode
==> make install in '/home/pi/ros_catkin_ws/build_isolated/rplidar_ros'
[ 83%] Built target rplidarNode
[100%] Built target rplidarNodeClient
Install the project...
-- Install configuration: "Release"
-- Up-to-date: /opt/ros/indigo/_setup_util.py
-- Up-to-date: /opt/ros/indigo/env.sh
-- Up-to-date: /opt/ros/indigo/setup.bash
-- Up-to-date: /opt/ros/indigo/setup.sh
-- Up-to-date: /opt/ros/indigo/setup.zsh
-- Up-to-date: /opt/ros/indigo/.rosinstall
-- Up-to-date: /opt/ros/indigo/etc/catkin/profile.d/05.catkin_make.bash
-- Up-to-date: /opt/ros/indigo/etc/catkin/profile.d/05.catkin_make_isolated.bash
-- Up-to-date: /opt/ros/indigo/lib/pkgconfig/rplidar_ros.pc
-- Up-to-date: /opt/ros/indigo/share/rplidar_ros/cmake/rplidar_rosConfig.cmake
-- Up-to-date: /opt/ros/indigo/share/rplidar_ros/cmake/rplidar_rosConfig-version.cmake
-- Up-to-date: /opt/ros/indigo/share/rplidar_ros/package.xml<== Finished processing package [68 of 81]: 'rplidar_ros'
Can anybody help with this issue?
Thank you in advance,
Marcello
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Help with gmapping results using (slower) rplidar on turtlebot2
I mounted my new Robopeak rplidar on the center of the turtlebot's top plate, and modified the various launch/urdf to use this scanner for gmapping. However I have not modified any of the gmapping parameters, I'm using the same files as the turtlebot gmapping tutorials.
I can teleop around and get a map, but the walls are rather thick and fuzzy. I suspect this is a result of the rplidar publishing at only 5 hz, not 50 hz as the original kinect. Or possibly because the rplidar is 360 degrees and kinect was only 57 degrees?
Does anyone know why my map doesn't show a sharp defined wall?
Is the slower publishing rate responsible?
What params for gmapping should I modify to optimize for the slower rate?
I tried to add a small jpg of the map image, but not enough points.
This is on Hydro/Ubuntu 12.04, using a turtlebot2 (kobuki).
thanks
buddy
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Problems about gmapping under the environment： ROS(hydro)+turtlebot2+rplidar
I am really sorry to trouble everyone, and please forgive me for my poor English. But I really face some problems that I can't solve them.
I want to replace the Kinect with the rplidar laser device while gmapping, I fixed the rplidar in the middle of the turtlebot2, I installed the rplidar driver, and I wrote the gmapping launch file.
There's a problem in my map, unfortunately I don't know how to describe this problem in English, I want to upload some map pictures, but I am not qualified to upload images, so I upload my map result pictures to my Baidu network disk :[TheGmappingResultPicture](http://pan.baidu.com/s/1sj6snpF)
I hope you can visit this website..
And there is another question that I want to disturbe everyone, I tried to follow this method:[How to crate a map with gmapping and hokuyo laser](http://answers.ros.org/question/173122/how-to-crate-a-map-with-gmapping-and-hokuyo-laser/) However I can't found the folder `turtlebot_navigation/config`, but I really want to know what's the difference between these two file:`turtlebot_navigation/launch/includes/gmapping.launch.xml` and `turtlebot_navigation/config/gmapping.launch.xml`
**Once again express my gratitude! Thank you very much!!**
Below is my gmapping launch file:
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How to connect two rplidars on one computer
Hello,
I'm trying to connect two rplidars on one computer. Always starts only one node and the other ends error below:
started core service [/rosout]
process[rp/rplidarNode-2]: started with pid [23750]
RPLidar health status : 0
process[rp1/rplidarNode1-3]: started with pid [23772]
Error, cannot retrieve rplidar health code: 80008002
Thank you for your answers
my launch file:
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Cannot see the scan data of rplidar on raspberry pi
Hello everyone, I am running ROS indigo on Raspberry Pi, I successfully installed `ROSARIA` for Pioneer robot and `openni2_camera` for Asus Xtion Live Pro, they both works well.
I successfully installed `rplidar_ros`, the nodes are properly launched, but when I run
$ rostopic echo /scan
I can't see any output. I tried it on my PC(Ubuntu 14.04 LTS, x86_86), everything goes well. I also tried to run the demo of rplidar **SDK**, the output data is right. It is so strange, could you give me some advice to solve the problem?
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Which is the best LIDAR sensor to use Hector_mapping (Hector_slam)
Hi everyone.
In this opportunity I want to know which is the best option to use and do SLAM with hector_mapping. I have 3 options: Hokuyo URG-04LX-UG01 (10Hz), RPLidar (max 10Hz), Hokuyo UST-10LX Scanning Laser Rangefinder (40Hz).
I'm developing a project to merge OGMs (Occupancy Grid Map) from different robots, so I want to decide which is the best option to buy the best Lidar sensor. I know the importance of the Lidar scanning frequency to do SLAM and I know those sensors can do slam with hector_mapping, but those options differs in their prices. In fact, one Hokuyo UST10LX is equals to 5 RPLidar or 2 Hokuyo URG-04LX.
So, my question is, based on your wide and big expirience, **Hokuyo URG-04LX has a good performance doing slam with hector_slam? RPLidar has a normal or good performance doing the same task?.**
I know Hokuyo UST-10LX is the best option for its specs (scanning frequency, over all) but I could get more robots with the others laser options. Take into account I don't care detection range, I just want to know is those options are enable for slam applications and do slam with hector_mapping.
Thank you in advance. I hope you can advise me.
Regards,
Carlos Velasquez
Colombia
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RVIZ SLAM RPLidar problem
Hello friends...
I am using The RPLIDAR (Robopeak) for hector slam mapping. This lidar has a publisher node.
that link is:
http://wiki.ros.org/rplidar
and ı use its commands like this:
**$ roslaunch rplidar_ros rplidar.launch
$ roslaunch hector_slam_launch tutorial.launch ( it is started RVIZ program)**
this is working and starting publish lidar scan data.
I added LASER_SCAN and MAP tools on RVIZ display.
if ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "laser" , I can see LIDAR data on RVİZ on rviz display.
BUT !!!!
f ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "map" , I can NOT see LIDAR data on RVİZ on rviz display.
and I see this error:
****Transform [sender=unknown_publisher]
For frame [laser]: Fixed Frame [map] does not exist****
ı need to use HECTOR_SLAM Method like this video but ı cannot started it ....
[link text](https://www.youtube.com/watch?v=pCF7P7u8pDk)
please help me...
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↧
RVIZ HECTOR SLAM
HELLO...
Can anybody explain step by step how can ı do this project like video ???
**https://www.youtube.com/watch?feature=player_embedded&v=pCF7P7u8pDk**
I have Rplidar ROS library.
**https://github.com/robopeak/rplidar_ros**
and ı have RVIZ on ubuntu / indigo
nobody know as exactly .
İs anybody explain this project step by step on pictures or video.
ı AM DOİNG LİKE THİS :
$ roslaunch rplidar_ros rplidar.launch $ roslaunch hector_slam_launch tutorial.launch ( it is started RVIZ program)
this is working and starting publish lidar scan data. I added LASER_SCAN and MAP tools on RVIZ display.
if ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "laser" , I can see LIDAR data on RVİZ on rviz display.
BUT !!!! f ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "map" , I can NOT see LIDAR data on RVİZ on rviz display. and I see this error:
Transform [sender=unknown_publisher] For frame [laser]: Fixed Frame [map] does not exist
please solve this problem. help me.
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need help regarding hector slam..i am using rplidar
i am now successfully running hector slam..i got no error but when i move the lidar the map also changes..i.e map is instantaneous.
i got following massage in terminal
SearchDir angle change too large
my launch files are given
mapping_default.launch
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gmappping problem ( NO MAP RECEİVED )
Hello friends...
I created required gmapping tree. But RVİZ dont display a map. I use RPLidar.
I run this gmapping launch file . and ı get this error on console.
**[ERROR] [1434099978.892736102]: Scan message must contain angles from -x to x, i.e. angle_min = -angle_max**
And I run $roswtf , I get this error:
**WARNING The following node subscriptions are unconnected:
* /rviz_1434092335500490690:
* /tf_static
* /map_updates
* /slam_gmapping:
* /tf_static**
On my rviz: fixed frame : /map
this is my tree :
http://i57.tinypic.com/50001f.png
this is my rviz display:
http://i61.tinypic.com/2nvzf5w.png
this is my gmapping launch file:
odom_frame: odom
map_frame: map
base_frame: base_link
map_update_interval: 0.5
maxUrange: 30.0
maxRange: 60.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
linearUpdate: 0.5
angularUpdate: 0.436
temporalUpdate: -1.0
resampleThreshold: 0.5
particles: 80
xmin: -1.0
ymin: -1.0
xmax: 1.0
ymax: 1.0
delta: 0.025
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
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gmapping and rplidar
hi friends....
I will not play a sample bag file.
I couldnt solve gmapping with rplidar
how can ı build a map as best simple.
Can you give me a launch file for simple create a map with rplidar.
I have rplidar node and gmapping nodes and laser_Scan _matchers tools.
I mean a lunch file like this.
#### publish an example base_link -> laser transform ###########
please help me....
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↧
Hector Slam Generated Map Does Not Appear in RVIZ
Hi,
I am trying to do a Hector Slam using the RPLidar by RoboPeak. I am not using any robot for now. I am using the RPLidar connected to my laptop. In the future I will use it on a UAV. I am using this launching file:
> Blockquote
When I run `roswtf`, I get this:
No package or stack in context
================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /hector_mapping:
* /syscommand
* /tf_static
* /rviz:
* /trajectory
* /tf_static
* /map_updates
Let me know if you need more information.
Thank you
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MY RPlidar stopped spinning and sending data
i have an Arduino Leonardo and the RPLidar. I also have a RGB shield attached to it. I got the liar to spin on windows but have recently just changed to macintosh and it isn't spinning anymore. The code loads in fine through arduino but there is no output just 0's. /Users/williamphoenix/Desktop/Screen Shot 2015-07-07 at 11.23.37 AM.png Here is a screen shot of my error on my program.
I also have loaded many others onto the board and none of them seem to get the liar going and spitting back data.
Thank you
Sorry Just Starting out on this and trying new things
Idk how else toe the image into the blog it says that i need 5 of something.
The error is /Users/williamphoenix/Documents/Arduino/libraries/RPLidarDriver/RPLidar.h:56:10: note: no known conversion for argument 1 from 'Serial_' to 'HardwareSerial&' no matching function for call to 'RPLidar::begin(Serial_&)'
As well as i have loaded a few of the Arduino written libraries into my Arduino leonardo which is connected to my RPlidar and it doesn't spin anymore but the green LED is lighting up along with the board is responding but the liar will not spin
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Which ROS Version should I use?
Hello guys
this is a very basic question and I apologizse for this. But I never did something with ROS nad because of this I am an really beginner.
So I would like to use ROS to develop a better second version of my school robot project.
I use a new Ubuntu 15.04 and because of this also ROS jade.
But many tools I would like to use like: ROSJava and Rplidar_ROS are only published for indigo or hydro.
So are there ways to use this old tools in a new ROS version. Or are there ways to use a old ROS-ersion on an new Ubuntu 15.04.
I don't want to reinstall my whole operation system.
Thank you for your help!
----------
Update:
Hi, I am also new to this forum/ROS in general.
I would like to use ROS/Gazebo to simulate robot control and test out the kinematics of various legged robot designs before I make physical prototypes. What version of ROS/Gazebo should I use? Should I go with the older but presumably more reliable Gazebo 2.x and Indigo because they go with Ubuntu 14.04 LTS, or have significant improvements been made to both ROS and Gazebo to the point that the newer Gazebo 5.x and Jade are more stable?
Thanks for answering or pointing me to the right place to ask this question.
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