Screenshot of RViz showing alignment of all three range sensors on the robot: blue points = rear LIDAR, orange points = front LIDAR, and white points = front depth camera. The key here is to make precise coordinate measurements of the mounted laser scanner with respect to the origin of the robot i.e.
Ch address is used in the address field of a ppp frame pro#The biggest challenge in setting up our own LIDARs was aligning all three range sensors: front orbbec astra pro 3d camera, front LIDAR, and rear LIDAR. Rear Sweep Scanse LIDAR on a 3D-printed mount (in blue). The front and back laser scanner are located at opposite edges of the robot and each provide a field of view of 270 degrees (retrieved from ). Apart from the LIDARs, the robot came equipped with a front depth camera. Each laser scanner provides 270 degrees of range data as shown in the diagram below. One of them recently broke and was replaced with a LDS-01 laser scanner from one of our TurtleBot3s. Ch address is used in the address field of a ppp frame full#To give the robot a full 360 degree view of its surroundings we initially mounted two Scanse Sweep LIDARs on 3D-printed mounts. Hence, this post will aim to give solutions to some less-discussed-problems. Many helpful tuning guides are already available: Basic Navigation Tuning Guide and ROS Navigation Tuning Guide to name a few (we encourage anyone new to the stack to thoroughly read these). Most of the configuration process is spent tuning parameters in YAML files however, this process is time consuming and possibly frustrating if a structured approach is not taken and time is not spent reading into details of how the stack works. Together these components find the most optimized path given a navigational goal in the real world. Optimization of autonomous driving at close proximity is done by the local costmap and local planner whereas the full path is optimized by the global costmap and global planner. Path-finding is done by a planner which uses a series of different algorithms to find the shortest path while avoiding obstacles. A costmap is a grid map where each cell is assigned a specific value or cost: higher costs indicate a smaller distance between the robot and an obstacle. ![]() The first vital step for any mobile robot is to setup the ROS navigation stack: the piece of software that gives the robot the ability to autonomously navigate through an environment using data from different sensors.Ī major component of the stack is the ROS node move_base which provides implementation for the costmaps and planners. The Summit-XL Steel is advertised to be a great platform for robotic application that require transporting heavy loads (up to 250 kg) such as warehouse automation (retrieved from ).
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