[ros-users] [Discourse.ros.org] [TurtleBot] Fusing R200 and LIDAR data | SLAM | gmapping

[reno]

Hi all,

I'm using LDS-01 LIDAR for creating 2D occupancy grid. It is accomplished using **gmapping** and it works reasonably good. LIDAR gives good precision but information is collected in 2D plane. It cannot detect obstacles higher or lower than LIDAR and that is reason why generated map is not realistic. Robot keeps hitting tables, chairs, fans, etc..
I bought Intel R200 depth camera to solve this problem but I cannot find solution.

As gmapping is laser-based solution I tried to convert PointCloud2 depth data to laser scan data using **depthimage_to_laserscan** package. It correctly shows obstacles in rViz but looks like gmapping does not support multiple laser sources.
Then I tried to use **[ira_laser_tools](https://github.com/iralabdisco/ira_laser_tools)** package to merge two laser sources..  But looks like laser scan data that is generated with depthimage_to_laserscan package is not compatible with laser scan data that LIDAR provides. This is error that ira_laser_tools is reporting:

> burger at burger-UP-CHT01:~$ roslaunch ira_laser_tools laserscan_multi_merger.launch
> ... logging to /home/burger/.ros/log/4979d2f4-d902-11e8-a0f5-00c0caa51893/roslaunch-burger-UP-CHT01-5052.log
> Checking log directory for disk usage. This may take awhile.
> Press Ctrl-C to interrupt
> Done checking log file disk usage. Usage is <1GB.
> 
> started roslaunch server http://localhost:35838/
> 
> # SUMMARY
> 
> PARAMETERS
> 
> * /laserscan_multi_merger/cloud_destination_topic: /merged_cloud
> * /laserscan_multi_merger/destination_frame: /base_link
> * /laserscan_multi_merger/laserscan_topics: /scan /scan_r200
> * /laserscan_multi_merger/scan_destination_topic: /scan_multi
> * /rosdistro: kinetic
> * /rosversion: 1.12.14
> 
> NODES
> /
> laserscan_multi_merger (ira_laser_tools/laserscan_multi_merger)
> 
> ROS_MASTER_URI=[http://localhost:11311](http://localhost:11311/)
> 
> process[laserscan_multi_merger-1]: started with pid [5075]
> [ INFO] [1540546555.340892157]: Subscribing to topics 2
> /scan /scan_r200 [ WARN] [1540546555.411538397]: Transformer::setExtrapolationLimit is deprecated and does not do anything
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
> [pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)

Is there any other solution to fuse depth information from R200 with LIDAR data and use it with gmapping SLAM?





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