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Testing Lidar with ROS

A project log for Open Simple LIDAR

Open Source scanning laser rangefinder

iliasamiliasam 09/19/2017 at 18:440 Comments

I had installed 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 a lidar working in 2 deg angular resolution mode.

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

Next step is increasing parameters of the Lidar by optimizing  its firmware.

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