LMS1xx Lidar working #137
LMS1xx Lidar working #137
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jackal_control/config/control.yaml
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| @@ -1,5 +1,6 @@ | |||
| controller_manager: | |||
| ros__parameters: | |||
| use_sim_time: False | |||
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This can't be here for real robots.
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This line doesn't exist on my packages on the real robot (I don't commit and push on the real robot, which is likely why you see it here and not there. Though, I'm curious - if we set it to False, would this be sufficient?)
| output='screen', | ||
| parameters=[config_jackal_ekf], | ||
| ), | ||
| # Node( |
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This needs to be enabled.
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I had this disabled as I was testing my real robot using a different odometry package for 2D laser scans - rf2o_laser_odometry. I'll enable this again for now.
| <xacro:property name="tower" value="$(optenv JACKAL_LASER_TOWER 1)" /> | ||
| <xacro:property name="prefix" value="$(optenv JACKAL_LASER_PREFIX ${mount})" /> | ||
| <xacro:property name="parent" value="$(optenv JACKAL_LASER_PARENT ${mount}_mount)" /> | ||
| <xacro:property name="lidar_model" value="$(optenv JACKAL_LASER_MODEL ust10)" /> | ||
| <xacro:property name="lidar_model" value="$(optenv JACKAL_LASER_MODEL lms1xx)" /> |
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Revert to match our preference.
| @@ -91,7 +91,7 @@ | |||
| <origin xyz="0 0 ${height}" rpy="0 0 0" /> | |||
| </joint> | |||
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| <xacro:VLP-16 parent="${prefix}_vlp16_plate" topic="${topic}"> | |||
| <xacro:VLP-16 parent="${prefix}_vlp16_plate" name="velodyne" topic="/velodyne_points" organize_cloud="false" hz="10" samples="440" gpu="false"> | |||
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Revert to match our preference.
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I attempted to use just the original line 94 for this, and the LiDAR would not spawn with the /velodyne_points topic. After referring to the example urdf file from velodyne_description, I was able to see the /velodyne_points topic being published when applying the same xacro parameters. (Refer to here).
| @@ -1,4 +1,4 @@ | |||
| # Copyright 2022 Clearpath Robotics, Inc. | |||
| # Copyright (c) 2018 Intel Corporation | |||
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Here, I changed the nav2.launch.py file to the original navigation_launch.py file in the nav2_bringup package (found here) because the default nav2.launch.py didn't seem to be working.
| resolution: 0.025 | ||
| robot_radius: 0.3 | ||
| footprint: "[ [0.254, 0.2159], [0.254, -0.2159], [-0.254, -0.2159], [-0.254, 0.2159] ]" |
Hello,
I was hell-bent on using the Sick LMS1xx lidar in my Gazebo simulator. So, here it is.
I also changed it from /front/scan to /scan, but this could be changed back.