Sensor Calibration - Hokoyu Lidar [closed]

asked 2012-06-13 04:52:48 -0600

Arjun PE gravatar image

updated 2014-01-28 17:12:39 -0600

ngrennan gravatar image

Hello guys,

I am working with Husky A200 (Unmanned Ground Vehicle). It has got Hokoyu Lidar in it. I am planning to calibrate the Lidar data (Autocalibration exactly). When the Lidar is powered on, it should calibrate itself, and if there is any deviation in the value, it should then correct itself to the reference value.

Has anyone done this before. Any help would be highly appreciated. Thanks in advance.

With Regards, Arjun

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-03-22 13:36:24.058562

Comments

1

What parameters are you trying to calibrate about the lidar? If it's mounted in a fixed position on the robot, then that only needs to be calibrated once and added to the robot's tf tree (or URDF model). I've never needed to calibrate anything else with our hokuyos.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2012-06-13 08:19:34 -0600 )edit
2

For reference, Husky URDFs can be acquired here: https://github.com/clearpathrobotics/clearpath_husky/tree/master/husky_description/urdf

Ryan gravatar image Ryan  ( 2012-06-14 15:09:37 -0600 )edit

@Dan Lazewatsky --- Thank you for your reply. The hokoyu ls mounted in a fixed position on the robot. I want to calibrate it once and as you said , add it to the robots tf tree (or URDF model). Help would be highly appreciated. Thanks in advance.

Arjun PE gravatar image Arjun PE  ( 2012-06-14 22:26:14 -0600 )edit

@Ryan - Thank you. I will try this.

Arjun PE gravatar image Arjun PE  ( 2012-06-14 22:32:56 -0600 )edit
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