Asked
Resolved by DJ Sures!
Hi @DJ, Probably off topic but if you were to purchase a LiDAR for ARC, would you buy the Hitachi-LG LDS or the RPILiDAR A1 . The link at top of this page for hardware specs appears to be outdated but on Robotis page it says 120mm to 3,500mm and Hitachi with 5% error and 300rpm with 1 degree resolution. https://www.robotis.us/360-laser-distance-sensor-lds-01-lidar/
The RPI Lidar appears to have a much larger range of 12 meters and they appear to be easy to find and a lot available for sale. https://www.slamtec.com/en/Lidar/A1Spec
I don't own either, so I am just trying to work out what would be the best one to purchase to work with ARC, Both seem to be about the same price $130 to $140 Canadian although the Hitachi is hard to find.
@DJ, for witch ydlidar are you doing the robot skill, the X2 or X4? I have both Lidars and can help testing if you need.
I believe the ydlidar SDK supports their entire family of lidars. So it won't be model specific, from what I understand. I have not seen the robot skill yet, so I'm not 100% positive about that.
@DJ So the T265 works well, but it's discontinued, and we need a replacement solution.
Has anyone used the Luxonis oak-d? Looks like a really useful piece of kit for robotics.
I don't think the T265 is worth replacing. I get way better results using the Faux NMS Odometry with only a 360 lidar. Make sure you set The Better Navigator to use the pose hint HECTOR.
The t265 is a bit wonky in some conditions and goes out of sync over time - doubly so in sunny conditions.
The hector pose hint set to HECTOR works way better if there's a lot of stuff in the room to produce a noticeable map so the robot can figure out where it is
True, i sold my T265 because of the drift and relocation issues. I am planning on using the Roombas encoder count or better yet adapt some quadrature encoders and make a skill for them. Just waiting for the ydlidar skill to see the light of day.:p
I've been navigating between 3 points for more of the day, which is the same map I've been generating. This is with only the hector pose hint and the NMS faux Odometry.
The latest RPI Lidar A1 robot skill has an option to enable a fake pose hint event. Using the better navigator, you can set the pose hint to be Hector and run entirely off the 360 RPI lidar slam sensor. This way you do not need a T265 or the NMS faux odometry
The Better Navigator can use the Hector SLAM pose hint, which will not require a pose sensor. If you have The Better Navigator configured to use Hector as the pose hint, you can enable this option. This will send a "fake" pose hint of 0,0 to the NMS so that the pose event will run after every lidar scan.