Hi Tiziano, First I like to say thank you for making awesome videos. I just bought my RPLidar. I want to mount it on my drone. Fly it around and detect and map things. I have Tatot Hexacopter and Nvidia Jetson. But I don't know where to start. Any advice please.
thanks for vid, i really liked it, i just bought a RPLidar and i want to attach it to a drone for agriculture purposes, such as topography mapping can this be done ?.
Many thanks. I´m a civil engineer and was able to do the same with RPLidar A3, the results are much better with this model. Now to export to CAD file :P
Great tutorial, I almost slept reading through the ROS wiki. Videos are so easy to understand. Looking foward to a tutorial for autonomous navigation with slam on rasperry pi.
Hi, nice tutorial. It realy helped me to get start with the RPLidar. A thing I noted when you explained the changes in the "tutorial_tif.launch". You had show a change in the line 8, but there is a change in line 13 too. You had to change the old name "mapping_default.launch" to the filename you created "mapping_tif.launch". It was in the minute 8:05, it already has the new filename. I did it here and worked very well. Thanks for the excelent video
@@prandtlmayer Thanks for the video its really helped me alot to get hands on. Now i can able to visulizae the data from RP Lidar. But i'm getting the error as mentioned below in my google drive. drive.google.com/open?id=1_M7LqcdfeeL_KdA3ZgjwPArMbFYNmTvr Please help to resolve the issue, which will help me to complete my theis work. Thanks in advance
Hi! It's important to say that if you rotate the Lidar fastly in one axis -- you can have problems for mapping, occasionally it's happens when you have a diff drive robot. Great video!
First of all thank you for these amazing videos which helped me a lot! I have a similar project right now: I want to install the RPLIDAR A1 on a little car and connect it with a raspberry pi 3. I want to start the scan from my laptop and visualize the map with Rviz. So i use this order of steps: - start roscore on my laptop - tell pi that the laptop is the master (export ROS_MASTER_URI=) - define my pi as a talker and laptop as listener (rosrun rospy_tutorials talker.py) - start Rplidar - than i type "rosrun tf static_transform_publisher 0 0 0 0 0 0 map scanmatcher_frame 10" I did this because I was getting the warning "No transform between frames /map and scanmatcher_frame available after 20.002338 seconds of waiting. This warning only prints once." - start hector slam. When i start hector slam, Rviz opens but the map is empty and the terminal gives me the following info: "lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.". Do you know what i'm doing wrong because when i connect the Lidar directly to my laptop everything works fine as in your video. I sourced after every new shell and i also used everytime the "export ROS_MASTER_URI"-command. Greetings
Have you tried running the master on the Pi? Besides some tf broadcast that might be missing (check whether that is the case) I once had a similar issue when I was playing data back from rosbag, due to a time issue
@@prandtlmayer The time issue was the problem! My Pi has a delay of about 5 hours to the laptop. I synchronized both and now everything is working. Thanks a lot for your quick response and i'm looking forward to the next great video of you!
I was followed your this tutorial for build the map using same sensor as you used, but then when i started hector_slam my map wont generate correctly as i move the lidar in diferent position the obstacle change position to, can u help me?
Whenever I start the hector map, there will be an error of "cannot launch node of type [hector_mapping/hector_mapping]: can't locate node" along with [hector_trajectory_server] , [hector_geotiff] as well, is there any fix for this?
hello sir, when I click scan, my rplidar A1M1 is spinning but showing 0.0 Hz (0 RPM) on frame_grabber. Do you know what the problem might be? It takes me weeks now and I haven't found any solution yet.
@Tiziano Fiorenzani I have followed your tutorial for the setup of the RPLidar A1, but when I type "roslaunch rplidar_ros view_rplidar.launch" onto the terminal I get an error message saying that scan mode "sensitivity" is not supported by the lidar. I have done some investigating into the matter and one of the suggestions was to edit the launch file, however the view_rplidar.launch file does not contain lines regarding the scan mode. Because of the error the rviz gui does not show anything. Any help would be greatly appreciated.
I`m new in ros, and i try to do this tutorial using a X2ydlidar, but when i launch the tutorial file i see this en rviz " Fixed Frame [map] does not exist " and the program doesn`t work . What can i do to fix it ? th
I'm getting an error that says "Fixed Frame[map] does not exist" With the message saying "No map received". What should i do?? Also, the terminal is saying cannot locate node of type hector_mapping in package hecktor_mapping.
Hello sir I successfully created map using hector slam now i want to localise my robot in that created map only using laser scan and hector slam can guide me how can i do that?
Thanks a lot i was looking for this. Excellent explanations. Looking forward to navigation go to goal and how to integrate same with ROS arduino motor control to move robot. God bless you. Regards
Hello sir, in 7:50 I cloned file mapping_tif.launch and file tutorial_tif.launch, but after I catkin_make, 2 new files aren't generated. Please help me, thank you sir !
Please help me ERROR: cannot launch node of type [hector_mapping/hector_mapping]: can't locate node [hector_mapping] in package [hector_mapping] What shall i do ? :(
chào bạn. bạn chắc người Việt phải không? Mình đang làm đề tài về SLAM và cũng vài thắc mắc. Nếu không phiền mình có thể liên hệ với bạn để trao đổi được không?
Hi Tiziano Fiorenzani, may I know where did you get the Framegrabber application? The one i am currently using is always showing "Unable to bind to port" even though i selected the correct port based from the Device Manager setting
Sir i m new to Slam and doing hector slam using raspberry Pi 3 with utiquity robotics Ubuntu ros ..but unfortunately I got the this error can anyone help me??
I am on a mac running virtual box (ubuntu latest) and am having trouble with the 'sudo chmod 666 /dev/ttyUSB0', it saying the file or path does not exist. Does it matter to which of the 4 USB-C ports on my mac i plug my lidar to? when i roslaunch rplidar_ros package, the rviz does not show my lidar scan. please send help!
Hi Tiziano. Thank you for the video. Unfortunately when I follow the steps the output in my terminal reads ‘lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.’ Do you know how I could fix this problem? Thank you
Hey. I have a doubt. I need to get the lidar position values from hector slam.When I run the tutorial.launch file, I see a topic called "slam_out_pose" which publishes these values, but I can't seem to figure out how to write a subscriber for it. Could you help me out here? Thanks.
Please help me , when catkin_make im ocurred this error CMake Error at /usr/share/cmake-3.10/Modules/FindQt4.cmake:1320 (message): Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x Call Stack (most recent call first): RPLidar_Hector_SLAM/hector_slam/hector_geotiff/CMakeLists.txt:12 (find_package)
please help me : when i run rviz it error : segmentation fault (core dumped) how i can fix it, install ubuntu 18.04 (not ubuntu mate) and ros melodic and vnc viewer to monitor. is it ok? and now how to fix this problem ???
2:22 I did find the driver in ny device manager but when I double click on it, it goes to "properties". I dont know how to reach the mapping interface. Please help
Please help me [tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name The traceback for the exception was written to the log file
Thanks for your explanations I found it very useful but I have some problems when I download the hector slam file I can not find the tutorial tif launch file please I need help thank you for your help
Hi there, very good video, thank you! I used it sometime ago. But now, I'm working on a humanoid /biped. Does the same thing apply or should I leave it as it was before your editing? Thank you in advance.
Thanks for the great video!! Quick question - can you use this for 3D SLAM -- say mount the RPLIDAR on a plate (on top of a drone), connected to motor shaft that bobs between 45 and 315 degrees to produce a 3D map of its environment?
My Global Status provides a warning statement, stating that there 'Fixed Frame' has no TF data; Actual Error: Fixed Frame [laser] does not exist. Anybody knows how to resolve this?
This is very nice, thanks for sharing. I have a question, the RPLIDAR can be used to make a 3D model if using it a vertical position while walking in a hall, and if its posible, can be done with HectorSlam?
5 лет назад
Good Video, Currently I'm working with a RPLidar A2, but I couldn't open the frame grabber aplicattion. Could you help me?
from hector slam can i get the data by which it creates the room floorplan? here in your picture i can see the black dots which represents the wall. From hector slam can i get the value which represent these black dots? I am planning to detect the corner, is there any way that i could detect the corner?
@@prandtlmayer I am so grateful that you replied. In a project i have to find the room's floor plan and room surface area( length and width) using Rplidar A2. For floor plan I am planning to use Hector SLAM and for surface area, one idea could be, to create a 2D point cloud and from that point cloud i have to find the corner somehow(i dont know how i could find the room corner). If i can find the room corner i could easily find the distance from one corner to another. Could u tell me how can i proceed? can you please enlighten me with some idea by which i can achieve both the floor plan and the surface area? I will be forever so grateful if you could help me regarding this issue.
Hi, I tried this tutorial and it worked correctly, but when I try to re-run the statement: RLException: [view_rplidar-launch] is neither a launch file in package [rplidar_ros] nor is [rplidar_ros] a launch file name The traceback for the exception was written to the log file roslaunch rplidar_ros rplidar.launch from catkin_ws I get the following error: RLException: [view_rplidar-launch] is not a launch file in the [rplidar_ros] package nor is [rplidar_ros] a launch filename. The exception trace has been written to the log file. What can I do?
@@prandtlmayer can I ask you something? After installing the driver when i tried to do the work, it says 'Cannot bind to the specified port'. Do you know why this happened? And how can i solve this problem? Thank you in advance
Hi, I've followed the tutorial through to running the hector slam launch file, but i'm getting an error reading as: Invalid tag: hector_geotiff ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/share. Arg xml is The traceback for the exception was written to the log file if it helps when I typed the grep ttyUSB line all that was returned was 'ttyUSB0' I'm new to the subject and any advice as to my error would be appreciated, thanks.
Great Video Thanks... Question, I am using the same model RPlidar as you are but get a " started core service [/rosout] process[rplidarNode-2]: started with pid [6604] process[rviz-3]: started with pid [6605] [ INFO] [1591737781.112395048]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0 [ERROR] [1591737783.970103291]: Error, operation time out. RESULT_OPERATION_TIMEOUT!" after running roslaunch command. Do you thing its a RPLIDAR problem? I checked the USB permission etc already.
in the last part i just recive this msg RLException: [tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name The traceback for the exception was written to the log file
hi i am trying to do this with rpi and pc. i have tried to attached the lidar to the rpi and was able to see the /scan topic from rpi to pc but when i run rviz on my PC there's an error for the /tf "No tf data. Actual error: Fixed Frame [map] does not exist" please help me im doing this for my thesis
@@prandtlmayer Thanks I've already solved this. i accidentally cloned wrong hector_slam package I thought i've cloned the already edited hector_slam but i was wrong
@@prandtlmayer Your video is very helpful a big thanks to you! I was able to use on my research project I've tried it on Rpi and the scanned data will be passed thru LAN by setting the Rpi as the master for ROS
Hi and thanks for ur video, well explained, do u have an idea where to add the IMU datas to fuse with hectorslam and get better orientation estimations ?
how can i change samle to 8000 ? i run hector slam it is not accuracy if i change the angle of lidar the map is error, how to fix it? can i use imu to improve map?
@@prandtlmayer Thank you for the reply. In first stage I have generated a map following your tutorial using hector slam. In second stage I can send the map to the amcl localisation. Now, the amcl requires odometry just as you mentioned. So I am hoping to run the amcl and hector slam simultaneously. But this time hector slam will not be used for mapping, it will just provide the odometry data which in turn will be fed into the amcl module. I can subscribe to the /odom topic in hector slam and get the data, but now I am looking for some direction on how to send this odom data to amcl. Hopefully you would be able to help.
Amazing video! where is the donate button - one question how can we export the map to point cloud data .PCD because i want to use it in Autocad to generate an accurate floor plan.
Hi, nice video bro! But i have a problem, my rplidar A1 is not scanning, when i follow your instructions on windows it doesn't show me the distance information, it is just displaying the 360 degrees picture on the frame grabber, my lidar is spinning but the grabber says it is 0 Hz (0 rpn)
What ubuntu Version is used? Because on github.com/NickL77/RPLidar_Hector_SLAM, they used 16.04. because ROS Kinetic only works with 16.04. Is there any chance to get hector slam working with 18.04 ???
Hi, I'm trying to understand the principle of operation of hector_slam. Please, give links, where I can see more information about this algorithm. Thanks!
@@prandtlmayer I tried to change port. Didn't try another computer. No tune, but the lights are on and it spins. I contacted support; they ignored after the 2nd message. My guess is that they aren't sure.
Great tutorial ! I'm trying your program on an Odroid XU4 ...the solution works very well until I turn the rplidar A1 on the Z axis. The detection is affected and the map also starts to turn in the same direction.
Hi! I really like this video! It's very helpful!! I was wondering if you happen to know how to configure the scan frequency of the RPLidar? I saw in the Slamtec website that it can be up to 10Hz. However, I can't find out how to configure it. Thanks!
Please help me ERROR: cannot launch node of type [hector_trajectory_server/hector_trajectory_server]: can't locate node [hector_trajectory_server] in package [hector_trajectory_server] ERROR: cannot launch node of type [hector_geotiff/geotiff_node]: can't locate node [geotiff_node] in package [hector_geotiff]
[tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name The traceback for the exception was written to the log file Can you help me to solve this please
I enjoyed making the video. Looking forward for more tutorials
Hi Tiziano, First I like to say thank you for making awesome videos. I just bought my RPLidar. I want to mount it on my drone. Fly it around and detect and map things. I have Tatot Hexacopter and Nvidia Jetson. But I don't know where to start. Any advice please.
thanks for vid, i really liked it, i just bought a RPLidar and i want to attach it to a drone for agriculture purposes, such as topography mapping can this be done ?.
i wanted to integrate it with an arduino uno
Many thanks. I´m a civil engineer and was able to do the same with RPLidar A3, the results are much better with this model. Now to export to CAD file :P
Please could you give us a link to your project with A3 ?? Many many thanks
@@danilomammarella6614 If you are working on this too, maybe we can team up =)
@@MrMiguelamaral sure! Now I'm waiting for the RPLidar A3.. I've just sent you an invite from Linkedln ;)
@Tiziano Fiorenzani aiutaci tu (genuflessione a mani levate in alto) :DDD
Thanks for the video. I bought the RPlidar A1 recently and was able to make a map of my room successfully.
Nice work! Feel free to post here a link to your videos and share your work
This is incredible. The fact that you can get this software for free is even more awesome.
Great tutorial, I almost slept reading through the ROS wiki. Videos are so easy to understand. Looking foward to a tutorial for autonomous navigation with slam on rasperry pi.
Documentation is inevitable, yet I slept too
Thank you for such a valuable video!! We will keep learning, please dont stop posting.
Hi, nice tutorial. It realy helped me to get start with the RPLidar.
A thing I noted when you explained the changes in the "tutorial_tif.launch". You had show a change in the line 8, but there is a change in line 13 too. You had to change the old name "mapping_default.launch" to the filename you created "mapping_tif.launch". It was in the minute 8:05, it already has the new filename. I did it here and worked very well.
Thanks for the excelent video
sometimes I make little changes from the time I record to the editing. no time to record it back. thanks for noticing
@@prandtlmayer
Thanks for the video its really helped me alot to get hands on. Now i can able to visulizae the data from RP Lidar.
But i'm getting the error as mentioned below in my google drive.
drive.google.com/open?id=1_M7LqcdfeeL_KdA3ZgjwPArMbFYNmTvr
Please help to resolve the issue, which will help me to complete my theis work.
Thanks in advance
You are a blessing! Beautifully explained and to the point.
Hi! It's important to say that if you rotate the Lidar fastly in one axis -- you can have problems for mapping, occasionally it's happens when you have a diff drive robot. Great video!
I did notice that
I did notice that. You need to move smoothly and not rotate much
Exactly what I was looking for! Thanks
First of all thank you for these amazing videos which helped me a lot! I have a similar project right now: I want to install the RPLIDAR A1 on a little car and connect it with a raspberry pi 3. I want to start the scan from my laptop and visualize the map with Rviz.
So i use this order of steps:
- start roscore on my laptop
- tell pi that the laptop is the master (export ROS_MASTER_URI=)
- define my pi as a talker and laptop as listener (rosrun rospy_tutorials talker.py)
- start Rplidar - than i type "rosrun tf static_transform_publisher 0 0 0 0 0 0 map scanmatcher_frame 10" I did this because I was getting the warning "No transform between frames /map and scanmatcher_frame available after 20.002338 seconds of waiting. This warning only prints once."
- start hector slam.
When i start hector slam, Rviz opens but the map is empty and the terminal gives me the following info: "lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.". Do you know what i'm doing wrong because when i connect the Lidar directly to my laptop everything works fine as in your video. I sourced after every new shell and i also used everytime the "export ROS_MASTER_URI"-command.
Greetings
Have you tried running the master on the Pi? Besides some tf broadcast that might be missing (check whether that is the case) I once had a similar issue when I was playing data back from rosbag, due to a time issue
@@prandtlmayer The time issue was the problem! My Pi has a delay of about 5 hours to the laptop. I synchronized both and now everything is working. Thanks a lot for your quick response and i'm looking forward to the next great video of you!
Kindly make part 2 of it.
SLAM
I was followed your this tutorial for build the map using same sensor as you used, but then when i started hector_slam my map wont generate correctly as i move the lidar in diferent position the obstacle change position to, can u help me?
Whenever I start the hector map, there will be an error of "cannot launch node of type [hector_mapping/hector_mapping]: can't locate node" along with [hector_trajectory_server] , [hector_geotiff] as well, is there any fix for this?
I think you forgot to catkin_make after you installed Hector Slam
Please help me
ERROR: cannot launch node of type [hector_mapping/hector_mapping]: can't locate node [hector_mapping] in package [hector_mapping]
I think you forgot to catkin_make after you installed Hector Slam
Thanks a ton. This way really worked.
Love your shirts, your video, and definitely your project!!!
could you explain why you set the parameter to zero at 7:53, what if lidar is not place at centre. do i have to change it accordingly?
hello sir, when I click scan, my rplidar A1M1 is spinning but showing 0.0 Hz (0 RPM) on frame_grabber. Do you know what the problem might be? It takes me weeks now and I haven't found any solution yet.
@Tiziano Fiorenzani I have followed your tutorial for the setup of the RPLidar A1, but when I type "roslaunch rplidar_ros view_rplidar.launch" onto the terminal I get an error message saying that scan mode "sensitivity" is not supported by the lidar. I have done some investigating into the matter and one of the suggestions was to edit the launch file, however the view_rplidar.launch file does not contain lines regarding the scan mode. Because of the error the rviz gui does not show anything. Any help would be greatly appreciated.
Can u use the slam for 3d lidar lslidar? Im working on project AMR but still confused with the 3d slam
I`m new in ros, and i try to do this tutorial using a X2ydlidar, but when i launch the tutorial file i see this en rviz " Fixed Frame [map] does not exist " and the program doesn`t work . What can i do to fix it ? th
I'm getting an error that says "Fixed Frame[map] does not exist" With the message saying "No map received". What should i do?? Also, the terminal is saying cannot locate node of type hector_mapping in package hecktor_mapping.
why did not my rviz show anything when I run the command line "roslaunch hector_slam_launch tutorial_tif.launch"?
Hello sir I successfully created map using hector slam now i want to localise my robot in that created map only using laser scan and hector slam can guide me how can i do that?
Thanks a lot i was looking for this. Excellent explanations.
Looking forward to navigation go to goal and how to integrate same with ROS arduino motor control to move robot. God bless you. Regards
please help
i am geting error
ls: cannot access '/dev/ttyUSB0': No such file or directory
i using slamtec lidar m2m1
Hello sir, in 7:50 I cloned file mapping_tif.launch and file tutorial_tif.launch, but after I catkin_make, 2 new files aren't generated. Please help me, thank you sir !
Hello, I am using it on my ros robot, I followed the all steps, but it says For frame [laser_frame]: Fixed Frame [map] does not exist
Please help me
ERROR: cannot launch node of type [hector_mapping/hector_mapping]: can't locate node [hector_mapping] in package [hector_mapping]
What shall i do ? :(
Im getting the same error. Im guessing you have to make a package. But i am lost as to which one. The hector slam mapping one maybe?
my mistake. the problem is in the sourcing of the file. you have to source it properly. once i did, it started right up.
I am glad you figured it out. 80% of the learning curve is fixing bugs. If someone else was to fix them for you you would learn nothing
How solve this?
Source the file in your catkin workspace /devel/setup.bash
Hello, I would like to ask if this method work also with rplidr c1 .. please help me 🙏🏻🙏🏻
Awesome as always! Thank you!
This video is all my needs :3 thank you
chào bạn. bạn chắc người Việt phải không? Mình đang làm đề tài về SLAM và cũng vài thắc mắc. Nếu không phiền mình có thể liên hệ với bạn để trao đổi được không?
Hi
Tiziano Fiorenzani, may I know where did you get the Framegrabber application? The one i am currently using is always showing "Unable to bind to port" even though i selected the correct port based from the Device Manager setting
There is a link in the description
Hii
Can you please help on navigation using the saved map in map server by hector slam, need your help ! Thanks a lot. Best wishes
Sir i m new to Slam and doing hector slam using raspberry Pi 3 with utiquity robotics Ubuntu ros ..but unfortunately I got the this error can anyone help me??
Did ever have an error that said " Can not start scan: 80008000!"? Help please.
I really didn't understand how to install the Lidar program on ubuntu.... I went on the link... but still too confusing
I am on a mac running virtual box (ubuntu latest) and am having trouble with the 'sudo chmod 666 /dev/ttyUSB0', it saying the file or path does not exist. Does it matter to which of the 4 USB-C ports on my mac i plug my lidar to? when i roslaunch rplidar_ros package, the rviz does not show my lidar scan. please send help!
I am not a Mac user. check what is the available serial port. in Linux is ls /dev/tty*
Hi Tiziano. Thank you for the video. Unfortunately when I follow the steps the output in my terminal reads ‘lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.’ Do you know how I could fix this problem? Thank you
I have had this issue when I did reply from a rosbag, nt directly. This comes from the time being off
@@prandtlmayer how can you solve this?
Hey. I have a doubt. I need to get the lidar position values from hector slam.When I run the tutorial.launch file, I see a topic called "slam_out_pose" which publishes these values, but I can't seem to figure out how to write a subscriber for it. Could you help me out here? Thanks.
Start over by just echo the topic and check you have the data. Use my subscriber example on GitHub and subscribe to the /laser topic
Please help me , when catkin_make im ocurred this error
CMake Error at /usr/share/cmake-3.10/Modules/FindQt4.cmake:1320 (message):
Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x
Call Stack (most recent call first):
RPLidar_Hector_SLAM/hector_slam/hector_geotiff/CMakeLists.txt:12 (find_package)
it sounds like this: answers.ros.org/question/291892/buildfarm-melodic-build-with-qt_gui_cpp-dependency-doesnt-install-qtbase5-dev/
Hi, is there a ready kit available for mapping indoor spaces?
great video thanks. keep it coming !
please help me :
when i run rviz it error : segmentation fault (core dumped)
how i can fix it, install ubuntu 18.04 (not ubuntu mate) and ros melodic and vnc viewer to monitor. is it ok?
and now how to fix this problem ???
This sounds more of a question for the ubuntu forum, sorry
how can I use Scan_matching with this HECtor-slam pakage bro???
2:22
I did find the driver in ny device manager but when I double click on it, it goes to "properties". I dont know how to reach the mapping interface. Please help
You don't click on it, just note the com port
Please help me
[tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name
The traceback for the exception was written to the log file
same error dude
did u resolved it ?
Thanks for your explanations I found it very useful but I have some problems when I download the hector slam file I can not find the tutorial tif launch file please I need help thank you for your help
hii @tiziano amazing work but i hv a query , i can run the slam with a bag file but not in real time what shall i do?
Does anyone know why after installing the drivers, there is no port found in the ports section in device manager?
Any luck resolving this issue? The same thing is happening to me after installing the driver, no port appears.
how to interface hector slam and rplidar with values in raspberrypi. please help me to get out of this sir
Hi there, very good video, thank you! I used it sometime ago. But now, I'm working on a humanoid /biped. Does the same thing apply or should I leave it as it was before your editing? Thank you in advance.
Thanks for the great video!! Quick question - can you use this for 3D SLAM -- say mount the RPLIDAR on a plate (on top of a drone), connected to motor shaft that bobs between 45 and 315 degrees to produce a 3D map of its environment?
thx for this great tutorial!
My Global Status provides a warning statement, stating that there 'Fixed Frame' has no TF data; Actual Error: Fixed Frame [laser] does not exist. Anybody knows how to resolve this?
same issue how did u solve?
This is very nice, thanks for sharing. I have a question, the RPLIDAR can be used to make a 3D model if using it a vertical position while walking in a hall, and if its posible, can be done with HectorSlam?
Good Video, Currently I'm working with a RPLidar A2, but I couldn't open the frame grabber aplicattion. Could you help me?
So good
Hi Tiziano, do you have a similar video for the RPLIDAR S1?I would be grateful,if you could tell me a good source I could follow for that module.
Sorry, no
from hector slam can i get the data by which it creates the room floorplan? here in your picture i can see the black dots which represents the wall. From hector slam can i get the value which represent these black dots? I am planning to detect the corner, is there any way that i could detect the corner?
There should be multiple sources for that. You can detect them by the shape but there are also approaches that use neural networks
@@prandtlmayer I am so grateful that you replied.
In a project i have to find the room's floor plan and room surface area( length and width) using Rplidar A2. For floor plan I am planning to use Hector SLAM and for surface area, one idea could be, to create a 2D point cloud and from that point cloud i have to find the corner somehow(i dont know how i could find the room corner). If i can find the room corner i could easily find the distance from one corner to another. Could u tell me how can i proceed? can you please enlighten me with some idea by which i can achieve both the floor plan and the surface area?
I will be forever so grateful if you could help me regarding this issue.
Hi, I tried this tutorial and it worked correctly, but when I try to re-run the statement:
RLException: [view_rplidar-launch] is neither a launch file in package [rplidar_ros] nor is [rplidar_ros] a launch file name
The traceback for the exception was written to the log file roslaunch rplidar_ros rplidar.launch
from catkin_ws I get the following error:
RLException: [view_rplidar-launch] is not a launch file in the [rplidar_ros] package nor is [rplidar_ros] a launch filename.
The exception trace has been written to the log file.
What can I do?
Did you build and source?
yes
@@prandtlmayer
what is the application you run after installing the driver? It just seems to be pull out of no-where and I can't find it... Thanks!
It's the SDK, you find the link in the description
@@prandtlmayer can I ask you something? After installing the driver when i tried to do the work, it says 'Cannot bind to the specified port'. Do you know why this happened? And how can i solve this problem?
Thank you in advance
Hi, I've followed the tutorial through to running the hector slam launch file, but i'm getting an error reading as:
Invalid tag: hector_geotiff
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share.
Arg xml is
The traceback for the exception was written to the log file
if it helps when I typed the grep ttyUSB line all that was returned was 'ttyUSB0'
I'm new to the subject and any advice as to my error would be appreciated, thanks.
Did you chmod the USB port?
Did you source the environment?
Hello,
do you have an advice, if the device manager is not showing this required port ?
Thanks very much in advance !
hey thanks for the great video. Have you done the same SLAM with the lidar lite v3?
How can i move my robot in rviz. Help me
hi, if I want to run roslaunch rplidar_ros at standard mode, then how can I do so?
I don't think I follow you
Great Video Thanks... Question, I am using the same model RPlidar as you are but get a " started core service [/rosout]
process[rplidarNode-2]: started with pid [6604]
process[rviz-3]: started with pid [6605]
[ INFO] [1591737781.112395048]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
[ERROR] [1591737783.970103291]: Error, operation time out. RESULT_OPERATION_TIMEOUT!" after running roslaunch command. Do you thing its a RPLIDAR problem? I checked the USB permission etc already.
Sounds like a connection issue, any luck since your question?
Good morning..yes actually it was the device. I returned it for a replacement and it worked. Thanks.
in the last part i just recive this msg RLException: [tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name
The traceback for the exception was written to the log file
Hi! I want to know which raspberry pi were you using for this, and also which version of ubuntu pls
Ubuntu 16
hi i am trying to do this with rpi and pc. i have tried to attached the lidar to the rpi and was able to see the /scan topic from rpi to pc but when i run rviz on my PC there's an error for the /tf "No tf data. Actual error: Fixed Frame [map] does not exist" please help me im doing this for my thesis
You need to select on top the reference you use for the Lidar, otherwise you need to provide a transformation from your frame to map
@@prandtlmayer Thanks I've already solved this. i accidentally cloned wrong hector_slam package I thought i've cloned the already edited hector_slam but i was wrong
@@prandtlmayer Your video is very helpful a big thanks to you! I was able to use on my research project I've tried it on Rpi and the scanned data will be passed thru LAN by setting the Rpi as the master for ROS
Hi and thanks for ur video, well explained, do u have an idea where to add the IMU datas to fuse with hectorslam and get better orientation estimations ?
Hi, that was useful, so this instructions can work in order tu use RPLIDAR A3M1? Im still without making it move
You might want to check whether they have a dedicated package for that. To the other ROS nodes nothing changes
how can i change samle to 8000 ? i run hector slam it is not accuracy if i change the angle of lidar the map is error, how to fix it? can i use imu to improve map?
You can change the sample rate, there should be an option on the lidar. If you have more sensors I'd give a shot to Cartographer
bác cho em hỏi với, sao em cài cái driver mà nó không nhận vậy
@@duytoanoan2479 mô tả rõ hơn dc ko?
Very useful tutorial, thank you. Could you please make a tutorial on how to integrate Hector slam with amcl location. Many thanks.
The particle filter uses information coming from your odometry, while Hector SLAM can run even without it.
@@prandtlmayer Thank you for the reply. In first stage I have generated a map following your tutorial using hector slam. In second stage I can send the map to the amcl localisation. Now, the amcl requires odometry just as you mentioned. So I am hoping to run the amcl and hector slam simultaneously. But this time hector slam will not be used for mapping, it will just provide the odometry data which in turn will be fed into the amcl module.
I can subscribe to the /odom topic in hector slam and get the data, but now I am looking for some direction on how to send this odom data to amcl. Hopefully you would be able to help.
Sir,
Please upload a video with path planning and obstacle avoiding using lidar sensor.
Amazing video! where is the donate button - one question how can we export the map to point cloud data .PCD because i want to use it in Autocad to generate an accurate floor plan.
Hi, nice video bro!
But i have a problem, my rplidar A1 is not scanning, when i follow your instructions on windows it doesn't show me the distance information, it is just displaying the 360 degrees picture on the frame grabber, my lidar is spinning but the grabber says it is 0 Hz (0 rpn)
It looks that is not reading any packets
@@prandtlmayer Ohh ok ok you know how to solve that?
Great video :)
So....how to do navigation after this?
I can save the map.
But still don't know what to do next.
I am working on the navigation video
@@prandtlmayer I'll wait for that.
Hi, I'm writing to you from Colombia, I would like to install lidar on my robot, can you help me please.
What ubuntu Version is used? Because on github.com/NickL77/RPLidar_Hector_SLAM, they used 16.04. because ROS Kinetic only works with 16.04. Is there any chance to get hector slam working with 18.04 ???
Ubuntu 18 runs ROS Melodic. Verify that your package is supported on that distro and you are good
Could you do a video of putting the RPLidar on a servo to allow 3D mapping? Thanks
Nice Idea
@Tiziano Fiorenzani - Nice video tutorial. What part of the software runs on Raspberry Pi and what part runs on Ubuntu laptop?
The slam part runs on my laptop
Thank you so much for this. I was stuck with my own set up (I need to get more familiar with tf). This really helped me. Thanks!
You are welcome to share your projects and comments on my Facebook page tizianotutorials
Thank you!
Hey,
Can I use the makeshift lidar that you made the previous video for SLAM like that?
The update rate would be too slow for any real application, but in principle you could
@@prandtlmayer But what if you increase the TFMini plus update rate to 1000 Hz?
It depends how slow you move, I'd say you can try
Hi, I'm trying to understand the principle of operation of hector_slam. Please, give links, where I can see more information about this algorithm. Thanks!
Are you referring to the package or to SLAM in general?
@@prandtlmayer I mean hector_slam, how does it calculate the position?
When I run CP210xVCPInstaller_x64, my A1 rplidar can't be detected in Device Manager. Any thoughts?
You should detect the USB adapter
@@prandtlmayer Yes, the USB adapter should be detected, but it's not. Do you know why it's not being detected?
Windows... Ok, try the obvious. Change port, try another computer. Do you even hear the tune when you plug it in? Might also contact the support
@@prandtlmayer I tried to change port. Didn't try another computer. No tune, but the lights are on and it spins. I contacted support; they ignored after the 2nd message. My guess is that they aren't sure.
Well, you also have other options. That adapter is just an... Adapter. You can use an Arduino for example, or another serial to USB adapter
Great tutorial ! I'm trying your program on an Odroid XU4 ...the solution works very well until I turn the rplidar A1 on the Z axis. The detection is affected and the map also starts to turn in the same direction.
yes, turning is something he doesn't like. try to keep the unit absolutely flat and rotate slowly
Thanks Tiziano for sharing the knowledge.
I wonder how the SLAM points can be geotag for outdoor mapping then the data be integrate into GIS software.
Good question! In theory you might be able to, but I am no expert on that
Hello, I wonder if you know how to perform AMCL using only RPLiDAR, that tutorial would be assume!
I Know, wouldn't it? Probably on Gazebo would be more enjoyable though. The donkey car does not have encoders
Could you provide us with a bag file so that we can try to experiment with this if we don't yet have an RPLidar?
That is a good idea, I shall collect some
Hi! I really like this video! It's very helpful!!
I was wondering if you happen to know how to configure the scan frequency of the RPLidar? I saw in the Slamtec website that it can be up to 10Hz. However, I can't find out how to configure it.
Thanks!
I don't remember exactly, but it should be possible through the windows application or through a command through serial port
Please help me
ERROR: cannot launch node of type [hector_trajectory_server/hector_trajectory_server]: can't locate node [hector_trajectory_server] in package [hector_trajectory_server]
ERROR: cannot launch node of type [hector_geotiff/geotiff_node]: can't locate node [geotiff_node] in package [hector_geotiff]
That sounds like you haven't source the environment
@@prandtlmayer How can I do this sir please help me
sir i removed this error
but No Map is Generated
Please help me
@@prandtlmayer [ INFO] [1573066028.528331421]: lookupTransform base_footprint to laser timed out. Could not transform laser scan into base_frame.
Are you playing back a rosbag?
Hello Sir. Your work is awesome. I am using turtlebot2 and rplidar. I am stuck at the map building part. Would you please help me, sir.
how can i find catkin_ws file?
You need to setup the environment, follow other videos in the playlist
great tutorial! is it possible that we could integrate this with an RPLIDAR A2 and add our own pathfinding algorithm with it?
I suppose so
[tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name
The traceback for the exception was written to the log file
Can you help me to solve this please
Can you tilt this and do a full 3d maping? or just 2d? Really interesting
first understand what a plane is