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What are the Hokuyo Laser Censor Ranges?

asked 2020-05-23 14:55:43 -0500

darkprinc3 gravatar image

Hello,

I want to ask you a question about Gazebo Hokuyo Censor's ranges... I wrote down the algorithm but the ranges must be different, but I do not know what to do... I only know it is not 360...

What should I do?

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answered 2020-06-01 09:55:18 -0500

ahcorde gravatar image

Hello,

You are assuming that you have 1 ray per angle. But it depends on how you have defined your plugin in the URDF. For example in the following hokuyo plugin you will have 720 samples <samples>720</samples> between -90º <min_angle>-1.570796</min_angle> and 90º <max_angle>1.570796</max_angle>.

<gazebo reference="base_laser_link">
    <sensor type="gpu_ray" name="head_hokuyo_sensor">
        <pose>0 0 0 0 0 0</pose>
        <visualize>true</visualize>
        <update_rate>40</update_rate>
        <ray>
            <scan>
                <horizontal>
                    <samples>720</samples>
                    <resolution>1</resolution>
                    <min_angle>-1.570796</min_angle>
                    <max_angle>1.570796</max_angle>
                </horizontal>
                <vertical>
                    <samples>1</samples>
                    <resolution>1</resolution>
                    <min_angle>0</min_angle>
                    <max_angle>0</max_angle>
                </vertical>
            </scan>
            <range>
                <min>0.10</min>
                <max>30.0</max>
                <resolution>0.01</resolution>
            </range>
            <noise>
            <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.01</stddev>
            </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
        <topicName>/base_scan</topicName>
        <frameName>base_laser_link</frameName>
      </plugin>
    </sensor>
</gazebo>
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Asked: 2020-05-23 14:55:43 -0500

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Last updated: Jun 01