4. Laser Sensor

Juan Miguel Jimeno edited this page Aug 5, 2018 · 12 revisions

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:

echo $LINOLIDAR

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.

laser

5. TF

Next, please proceed to TF to define the location of your sensor.

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