How do we add LIDAR to a ROS robot?

Рет қаралды 127,497

Күн бұрын

Companion blog post available at articulatedrobotics.xyz/mobil...
Finished lidar.xacro file github.com/joshnewans/articub...
Finished rplidar launch file github.com/joshnewans/articub...
00:00 - Intro
00:34 - What is LIDAR?
02:47 - LIDAR in ROS
04:35 - Adding a laser frame to our URDF
09:00 - Simulating LIDAR in Gazebo
14:43 - Integrating a real LIDAR
18:25 - Some extra tips
21:54 - Outro

Пікірлер: 95

@JIM94K Жыл бұрын

Thanks for the great content! I'm really enjoying the content, and following along at home. I'd love to see a video on the industrial-grade lidars, the 3D lidar in particular.

@mitcaro7310 3 күн бұрын

Thank you so much Josh for such a detailed and well structured content. It is a great help for me, making it possible to learn the simulation part of my project very fast.

@cangozpinar Жыл бұрын

Thank you very much. You won't believe how much your series has helped me. You are hands down the best resource for ros2 out there. Please upload new videos related to writing custom hardware_interface and control for ros2 control soon.

@markg4555 Жыл бұрын

Interested in seeing a video identifying most affordable 3D lidar and specification considerations based on your experience. Great video thanks!

@JonPeroutka Жыл бұрын

Josh, I'm completely new to robotics, but I made it this far and I wish you could see the smile on my face as I was able to drive my bot around the map just using the point cloud from the laser scan. thank you for this series. it is freaking AMAZING!

@ArticulatedRobotics Жыл бұрын

Thanks Jon - hearing comments like that puts a smile on MY face! :D

@ajithkumarps1974 4 күн бұрын

@@ArticulatedRobotics pls do make video on integration of 3d lidar

@scooterboom4157 Жыл бұрын

thank you THANK YOU! I'm just a kid that likes to make robots and I tryed to understand ros, but you are the first one that explains it clearly!

@alelmcity Жыл бұрын

Thanks for the great content. Keep up the momentum please.

@co4erol Жыл бұрын

Thank you for this series. Keep continue please

@karincatech6322 Жыл бұрын

thank you for the great contents, very useful for me and of course i would like to see a video about how to use industrial grade lidars on ROS.

@upulba 2 жыл бұрын

Great video as usual, and eagerly waiting for the next one 😀

@ArticulatedRobotics 2 жыл бұрын

Thanks :D

@timothysands5537 4 ай бұрын

You are my hero Josh. I'm just getting started designing a robot that will scan HVAC pipe duct and produce a 3D point cloud/map. Plan is to use a small robot to repair ducts in solid concrete slab foundations.

@Jorge_AS_Fernandes Жыл бұрын

It would be nice if you could make a video using 3D lidar like a velodyne or something like that. Great videos. Had a great time watching them. Regards from Portugal

@hosseinfallahi7306 2 жыл бұрын

You are awesome man. I am really looking forward to your next useful videos.

@ArticulatedRobotics Жыл бұрын

Thanks!

@sebrihamza3775 Жыл бұрын

i'm really so excited to watch your next video

@ArticulatedRobotics Жыл бұрын

Thanks! Sorry it's a bit late, have been very busy the last few weeks. Planning is mostly done, hoping to record it today and release it by next weekend :)

@sebrihamza3775 Жыл бұрын

@@ArticulatedRobotics thanks a lot

@akhadtop2067 Жыл бұрын

"That will actually publish the lidar to the scan topic." Literally the sentence that made the difference for me. Thank you for this awesome video.

@ArticulatedRobotics Жыл бұрын

Thanks, I'm glad to help!

@onlg8 Жыл бұрын

Wow it's a great video,thank you very much for making this video

@ArticulatedRobotics Жыл бұрын

Thanks!

@meditativerelaxingmusic3435 Жыл бұрын

Informative, Thanks

@SAMETELMACI Жыл бұрын

very ythanks for good info, please keep make videoo we love youu

@messerschmidtfpv4419 Жыл бұрын

The cable choice is very important! of my 7 cables only 2 enabled the system to communicate. now it works fine for me I'm happily waiting for the next episode and hope for a lesson on the subject of Ps4 Controller with bluetooth.

@ArticulatedRobotics Жыл бұрын

^ This. I forget if I mentioned it in the video or not (I meant to), but I had the exact same problem. It is very finicky about cables. (Sorry this reply is so late!)

@skylinegt6 5 ай бұрын

I would most definitely like some more videos on Lidar. I found some Lidar that claim 4d which apparently is is 3d plus 1d grey scale. I have no idea what that means but perhaps if you have some time to make a video on it or point me in the right direction i'd greatly appreciate it.

@manojguha2046 Жыл бұрын

Good video and explanation

@ArticulatedRobotics Жыл бұрын

Thanks!

@davidfarning8246 2 жыл бұрын

Humble tester here.... Another great video. Humble is starting to come together pretty well. For some reason updates were a bit wonky. A fresh install of ROS Humble on a fresh install of Ubuntu 22.04 on a bare metal partition fixed that last couple of things that were causing me problem. Things are far enough along that I am going to try to work through your series with ROS Humble and Gazebo Fortress.

@ArticulatedRobotics 2 жыл бұрын

Nice one! I'm not TOO surprised to hear it's going well on Humble, but I'm very interested to see how things go with Fortress as I have basically no experience with new (Ignition) Gazebo.

@davidfarning8246 2 жыл бұрын

@@ArticulatedRobotics From my inexperienced position... The new (Ignition) gazebo is really good if your use case matches closely with one of the use cases Open Robotics focuses on developing, such as the Subterranean (SubT) Challenge. That is where their money and development resources have gone. I played with running the gazebo server on a dual-core Xeon server with the gazebo client running on my laptop. After a bit of fiddling, it actually worked. For the rest of us, the Ignition gazebo seems to be having a hard time replacing gazebo classic. It is probably not polished (or complete) enough to overcome the inertia of using Gazebo Classic. The next inflection point with probably be the spring of 2023 as Melodic hits end of life and more users are forced to migrate to ROS 2.

@saviouremmanuel3608 Жыл бұрын

This is so much cool and what I have been searching for. Apparently, I have been using the wrong Keyword search. Please sir, would you happen to have a tutorial class that can teach one the introduction of ROS, and Gazebo from ground up as I have a project I need to work on and I would love to make a career out of this. Thanks!

@julienbietlot3401 Жыл бұрын

Hello, good video. Indeen interrested to see video about lidar and ros2, several lidar with ros, etc. Thanks. Great content

@ArticulatedRobotics Жыл бұрын

Thanks!

@robertoguerra5375 10 ай бұрын

Thank you for making this video 😊 the part where I can select usb by path is worth gold to me 😊😊😊 Can LiDAR scans be used for other than slam? I would like to make “object detected in forbidden area” logic 😅

@jeremiedupont8696 Жыл бұрын

I'm addicted to this course!!... But I have to pause now. My LiDAR is still in the mail 😢

@ArticulatedRobotics Жыл бұрын

Oh no :( But thank yo!!

@Ali_AKB_GH 11 ай бұрын

Thanks mate, this video is excellent. Just wondering if you could create a video talking about Foxglove software and how to read the lidar through this software and also explain how Foxglove is working with ROS2

@rihamali6239 Жыл бұрын

Thank you for this informative video and your amazing effort. I have a question can I do the same with LIDAR lite v3 ?

@hiteshjain2640 9 ай бұрын

Hey Josh, can you do a video on integrating imu sensors in our project

@it_-_ Жыл бұрын

Hi, where can I find your first videos or lesson for ROS in robotics? Please educate me about that.

@mischief6737 Жыл бұрын

I am not able to see my scan topic in rostopic list. Any way to rectify that?

@SasteJugaad Жыл бұрын

Hi your tutorials have been great help but there is one issue. I cloned your repo tried to run it. There is transform error for left and right wheel. Lidar and camera works but not able to move the bot in sim. I think the problem is /odom you mentioned at 13:13 I cannot see it in mine. In which video did you add it ?? Right now I am using base_link as the frame.

@chanyoungcheong688 Жыл бұрын

Hi, I have my own customized simulation in gazebo, so I tried to pull up camera thing in rviz but it doesn't show anything. What ros package do I need to install?

@DeepDuggalOfficial 6 ай бұрын

@ArticulatedRobotics I want a 3d lidar video! I'm a novice, but I have great idea that can help people. Other than a tutorial on 3d lidar and ROS, could you also include which 3d lidar is the most affordable.

@zerobow9413 5 ай бұрын

nice one

@johnnam7225 Жыл бұрын

You are my best lecturer for self study. Just in case, are you in Australia?

@ArticulatedRobotics Жыл бұрын

Thanks John! And yes, I am :)

@GodLikeonly1 2 күн бұрын

hey thank you for uplading these videos as I am working on similar project but as lidar is expensive cant we use ultrasonic sensors like 3 or 4 instead , it is much cheaper

@JonasHamill 4 ай бұрын

any tips on doing this with namespaces for multiple robots in ros1?

@nickroussos3313 Жыл бұрын

I am just starting to learn about ROS and RPlidar. I have successfully. installed ROS for Windows but I dont have the knowledge to install the RPLidar package to ROS. I have the SLAMTEC RPLIDAR Lidar A1 and would greatly. appreciate your help. Thank. you

@ermuhambetcalmenov8104 3 ай бұрын

Рахмет сізге

@youcefmaifi5867 Жыл бұрын

i have a ydlidarx3 and i have problem when i use it with ros2 humble, can you please make a video to explain how to use it!

@ahmetttt10 2 ай бұрын

Is there a training set that shows how to set the parameter values of a robot with sensors designed with Solidworks from scratch and then the necessary coding with Ros? Or can you make such a training?

@grahamnichols1416 Ай бұрын

Have you tried adding a laser range finder like the VL53L1X and adding it to a motorized platform via a slipping?

@liuyuexiang9827 Жыл бұрын

What are the 2d lidar & 3d lidar model?Where to buy?

@user-xp3kk8og6p 6 ай бұрын

hello bro, I already i had YD Lidar, can I use the YD Lidar instead? What modifications must be made to use YD lidar?

@olubukolaogunsola5864 Ай бұрын

@ArticulatedRobotics , did you 3D print the base for the lidar?

@ArticulatedRobotics 22 күн бұрын

Yeah I think maybe it was this one? www.printables.com/model/83507-a1-lidar-mount-for-turtlebot3-waffle-plate

@user-no8zu1qw2h 9 ай бұрын

hi , i use the ydlidar . i do not know what wrong ,it does not scan the map. what should i do?

@ServeEvolution 4 ай бұрын

Hi Josh, I am looking for a 2d lidar scanner for layout measurements. We should make only 2d layouts for energetic calculations. I would put the scanner around 2 m height above our head and make measurements in every room in fix position and move only among the rooms one time. The target a simple 2D layout with precise measurements with a cheap and simple device. Do you know any device like this on the market. I haven't found so far.

@Phoenix_1974 Ай бұрын

Hey hi!! How to integrate the LiDAR sensor with 7 dof robotic arm end effector for proper collision avoidance , I have prepared the Cad model of LiDAR too , but how to activate the LiDAR sensor in such a way that whenever I have I set a end effector two position so if any obstacles is present then it should avoid it ?? Can you guide me through it pls??

@bencheshire2680 Ай бұрын

What is the source for the libgazebo_ros_ray_sensor.so file? I can't seem to find it online and need to reference the source for my university project

@toddryan4338 Ай бұрын

Hi Josh! I am having trouble viewing the LiDAR and/or my camera over ssh. I have everything working locally and in the simulator (gazebo), but after I load it to my Raspberry Pi and run it, I don't know how to access it. I can see the publisher node working - but in RViz2, how do I connect to the camera or lidar node topic over ssh? Thank you!

@toddryan4338 Ай бұрын

For clarification: Rviz in on my laptop. The raspberry pi is running Ubuntu JammyJellyfish headless server, so no displays.

@somaakashperni6677 6 ай бұрын

sir i have ros2 ;does it work if i follow the same as u did in this tutorial????

@RobertLugg Жыл бұрын

After minute 6 I got lost. Do you explain the xml you are writing in other videos?

@virensompura4925 10 ай бұрын

Hello, I’m facing some issues I’m getting data from RPLiDAR sensor when i connected to Pi I checked with “ros2 topic echo /scan” but when I subscribed to /scan topic from my Computer it’s not showing data neither in Rviz nor in Terminal by running “ros topic echo /scan”

@arash.jafari 9 ай бұрын

Did you fix it? I have same issue

@taciusa Жыл бұрын

do you have any 0 to hero course? im new to robotics, and would like to follow a roadmap to be a good developer, like you :)

@kanzaen3753 Жыл бұрын

my robot doesn't stop when it faces an obstacle even though i did all the steps you did could you help me know the reason thank you

@leninsingharam.g6708 3 ай бұрын

Hi josh i am using a YD lidar sensor . I cannot do gmapping through it . After downloading the gmapping and slam package. I am getting so many errors. Can u tell whats is catkin ans cmake these are the most of the errors

@MASA-ef9qf Жыл бұрын

is there a tutorial where you can 'map' with a 2D rplidar (a1)?

@ArticulatedRobotics Жыл бұрын

This is coming very soon!

@MASA-ef9qf Жыл бұрын

@@ArticulatedRobotics thank you very much :) it would really help me a lot.

@benammaroussama4371 2 ай бұрын

can you connect a rplidar directly without rasberry pi

@brian7android985 9 күн бұрын

How many moving LIDAR in the same space before they get confused?

@rominej 10 ай бұрын

@1:16 seconds in the light from the tape measure is on the wall, yet the tape measure is pointing at the ceiling.... WHAT IS HAPPENING?!?!?!?!?

@johnnam7225 Жыл бұрын

dev machine - $ros2 service call ... is not working ... only $ros2 service list ... working also dev machine - $ros2 service call /stop_motor std_srvs/srv/Empty {} no working only pi working any issues?

@Build_the_Future Жыл бұрын

I think in the future we won't be using LIDAR but NERF. As soon as NERF's can be done in real-time with a few cameras, then goodbye LIDAR

@ArticulatedRobotics Жыл бұрын

Yes it will be very interesting to see people integrate NERFs with robotics

@impostercoding 2 ай бұрын

March 2024, if you are working with the newer versions of ROS (humble) and use Colcon (not catkin), which are the preferred methods. this does not work and from all the sources I see, you can't use this Lidar

@yuanmizuna6253 2 ай бұрын

i have the same question

@impostercoding 2 ай бұрын

@@yuanmizuna6253, I'm sure if you install ROS2 Foxy, which is still supported, but not for long, and use catkin instead of Colcon, it will still work. My issue is I have a fully built bot, and to go back and start over would suck. Especially on a Pi when storage is limited. Almost would have to completely uninstall Humble. Just sucks that I bought a Lidar that can't be used with todays systems. Plus there aren't many I find that are available. Top it all off, all the pros fail to tell you that part.

@Mr_X_FIFA 2 ай бұрын

We were also these issues while using sensors like Lidar, imu, odometery encoders, we have used humble and colcon, so what could be the reason of failing these sensors while robot localisation and navigation? Could you provide me any resources or answers to these problems where I could know the possible reasons of these failures, please, because I want to know where the problem is and how should I improve these and what other techniques can I use if not this.