Testing Lidar with ROS

A project log for Open Simple LIDAR

Open Hardware scanning laser rangefinder

iliasamiliasam 09/19/2017 at 18:440 Comments

I had instlled my Open Simple Lidar to the old Roomba and tested it with ROS (including Hector SLAM):

Photo of the lidar installed at the Roomba:

The left board is Orange Pi PC running ROS nodes (Lidar node, Roomba node, Hector SLAM).
All robot controlling was manual (using keyboard).

The resulting map of the rooms:

This map was created with lidar working at 2 deg angular resolution mode.

Also I have published Firmware code and lidar ROS node at Github.

Next step is increasing parameters of Lidar by optimizing  it's firmware.