Join GitHub today
GitHub is home to over 28 million developers working together to host and review code, manage projects, and build software together.Sign up
4. Laser Sensor
To achieve full autonomy, navigation stack requires a robot to have at least one source of laser information to perceive the robot's environment and avoid obstacles along its way. Linorobot supports multiple LIDAR and 3D depth sensors configurable through an env variable LINOLIDAR. This configuration is automatically done during installation. You can run:
on your robot's computer to check the configured LIDAR for your build. If you're using a different LIDAR sensor, change the default launch file in laser.launch to run the correct ROS driver during run time. Here are some good tips from Clearpath Robotics how to select the right sensor for your applicaton.
4.1. Checking Sensor Information
4.1.1 Run the launch files and rviz
On the robot’s computer, open a new terminal and run bringup.launch:
roslaunch linorobot bringup.launch
On your development computer, run rviz:
roscd lino_visualize/rviz rviz -d laser.rviz
4.1.2 Visualizing the Laser Data
Check if rviz can receive the laser data.
Next, please proceed to TF to define the location of your sensor.