Quantcast
Channel: ROS Answers: Open Source Q&A Forum - RSS feed
Viewing all articles
Browse latest Browse all 6

Display sonar datapoints in rviz for amcl

Previous: Answer by Dragonslayer for Hey guys!I would like some help with my problem. I've a project where I use a front and a side sonar to locate a mobile robot in a known environment (in combination with relative measurement sensors). For this I made a gazebo simulation and made a link to rviz, what is working good (the sonar beam is displaying). Now I'm stuck for some time with localization of the robot in rviz. I would like to use the range_sensor_layer to display data point(s) of a (known) obstacle, and to localize the robot like here or here. When I add a laser scanner, the visualization works good and as expected, but I want to do the same with a sonar.TLDR: range_sensor_layer doesn't give me data points in rviz (something I was expecting).costmap_common_params.yaml:map_type: costmap footprint: [[0.25, 0.25], [0.25,-0.25], [-0.25,-0.25], [-0.25,0.25]] inflation_layer: inflation_radius: 0.3 obstacle_layer: obstacle_range: 2.5 raytrace_range: 3.0 sonar_layer: nr: /sonar topics: ["/sonar_front", "/sonar_side"] no_readings_timeout: 1.0 clear_threshold: 0.2 mark_threshold: 0.8 local_costmap_params.yaml:local_costmap: global_frame: odom robot_base_frame: robot_footprint update_frequency: 1.0 publish_frequency: 1.0 width: 20.0 height: 20.0 resolution: 0.05 static_map: false rolling_window: true plugins: - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} global_costmap_params.yaml:global_costmap: global_frame: map robot_base_frame: robot_footprint update_frequency: 10.0 publish_frequency: 10.0 width: 40.0 height: 40.0 resolution: 0.05 static_map: true rolling_window: false plugins: - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} I hope this gives enough information! If I'm not clear or need to add more information, please tell me. Thank you in advance.
$
0
0
Hey guys! I would like some help with my problem. I've a project where I use a front and a side sonar to locate a mobile robot in a known environment (in combination with relative measurement sensors). For this I made a gazebo simulation and made a link to rviz, what is working good (the sonar beam is displaying). Now I'm stuck for some time with localization of the robot in rviz. I would like to use the range_sensor_layer to display data point(s) of a (known) obstacle, and to localize the robot like [here](https://answers.ros.org/question/206805/adding-range_sensor_layer-to-layered-costmap-for-global-planning/) or [here](https://answers.ros.org/question/303969/ultrasonic-sensor-with-range_sensor_layer-not-forming-cone-obstacles/). When I add a laser scanner, the visualization works good and as expected, but I want to do the same with a sonar. TLDR: range_sensor_layer doesn't give me data points in rviz (something I was expecting). **costmap_common_params.yaml:** map_type: costmap footprint: [[0.25, 0.25], [0.25,-0.25], [-0.25,-0.25], [-0.25,0.25]] inflation_layer: inflation_radius: 0.3 obstacle_layer: obstacle_range: 2.5 raytrace_range: 3.0 sonar_layer: nr: /sonar topics: ["/sonar_front", "/sonar_side"] no_readings_timeout: 1.0 clear_threshold: 0.2 mark_threshold: 0.8 **local_costmap_params.yaml:** local_costmap: global_frame: odom robot_base_frame: robot_footprint update_frequency: 1.0 publish_frequency: 1.0 width: 20.0 height: 20.0 resolution: 0.05 static_map: false rolling_window: true plugins: - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} **global_costmap_params.yaml:** global_costmap: global_frame: map robot_base_frame: robot_footprint update_frequency: 10.0 publish_frequency: 10.0 width: 40.0 height: 40.0 resolution: 0.05 static_map: true rolling_window: false plugins: - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} I hope this gives enough information! If I'm not clear or need to add more information, please tell me. Thank you in advance.

Viewing all articles
Browse latest Browse all 6

Trending Articles



<script src="https://jsc.adskeeper.com/r/s/rssing.com.1596347.js" async> </script>