The laserscan is extract from a package called poiontcloud_to_laserscan package. The term “relay” on my package is just to repeat the Odometry topic from FastLio but replace the frame_id to “odom” and also publish the odom to base_link TF.

Hi MrAlejandroblanco, for this video there is no github repository because everything is setup on Ardupilot. There is no special code for this one. But in the future videos in some application I could share to you the code.

By the way, for my latest video kzbin.info/www/bejne/ZqCleYOuh96Wis0si=uwcXqccZF9gsR7Cq I have made some ROS package which member can access and check it out! If you would like to join, could you please tell me your github username?

Min. FOV angle is -2degree. The lidar is placed in flat, and yes with this min FOV angle, meaning it will see ground with farther away from the robot.

if that pointcloud from depth camera is fast enough, I think it might work. And you still need IMU too.

Do you want to use RGBD point cloud instead of lidar? But the lidar has a large field of view of 360 degrees versus 90 for the camera, and most importantly, its accuracy is the same at 40 meters or 10 centimeters and is approximately equal to +/- 2 centimeters, the accuracy of the RGBD camera decreases with distance and is comparable with the lidar up to about 5 meters, which quite small, also computer vision algorithms like SGM in realsense cameras allow more errors in image triangulation than lidar physically measures the time of flight of light?

@@sencis9367 That what I already had. Also It's depth only. So the visual odometry was not available here. I have a plan to mount the camera on the front and back of the robot, as I have two of then. And then write a CPP ros2 node to combine the Point cloud into a single cloud message.

@TiNredstoner As far as I understand, the key condition for the operation of lidar odometry is the correlation of the visible lidar pointcloud and points on the map. Those in contrast to visual odometry, which is oriented by the ORB, KLT, SURF descriptors, by the coincidence of their PIDs, the lidar is oriented solely by the shape of objects around it, and for greater matching of the shapes of objects visible by the lidar, measurement accuracy plays a key role, and range affects reliability in rarefied environments and in open space, it turns out that theoretically you can count on working inside small rooms with the camera's IR projector turned on in case there are no visual signs for triangulation , also the camera will generate a very dense cloud in comparison with the lidar, one camera can create up to 1,000,000 points every 33.3 milliseconds in 1280x720 resolution & 30 fps, which will require a lot of computing power.

@@sencis9367 I have tested the Asus Xtion (640x480 depth resolution) with various Laser Odometry SLAM but not all of them. I ported the SSL_SLAM to ros2 and this seems to give the best result. Still, the problem remains when the robot rotates. The estimated odometry just fly off as the robot start to rotate. My guess was that the narrow horizontal FoV compared to 3D LiDAR, But something like Livox Horizon, MID-40 seems to works despite the similar narrow FoV. I yet to test it with KISS-ICP and another IMU coupled SLAM.

Hi, thank you for being a member of my channel!

@stepbystep-robotics6881 rashid, I am interested in your driver board .. I will need some support for my project.. do you have a price related for advice per hour or so.. ?

I am glad it useful somehow 😊

I have seen it couple times, but after restart it and place on proper vehicle, it works most of the time.

Fast-Lio only works with 3D lidar. But Nav2 just 2D laserscan is enough.

Max speed with 18V battery is 1.3m/s It’s DC brushed motors, so if higher voltage it could go faster. The AT Motor Driver that I am using could go up to 24V or 6 cells battery. I have trie run that with full speed outdoor, the Odometry from FAST-LIO still pretty reliable :) they really made a good work.

@@stepbystep-robotics6881 Thank you for your answer. In addition to the robot depending on the battery voltage, does it also depend on the ROS processing speed? If I'm not mistaken, robots developed on ROS only have a maximum speed of about 3m/s?

@@mr2tot I don’t think any ROS robot will be limited as 3m/s because robot’s physical speed doesn’t relate to ROS processing speed. The vehicle physical speed should be depending on ESC or motor driver. From my point of view, I don’t use ROS for all of control level, sometime we need realtime data in low level then better to use RTOS. ROS is better from middle to higher level software I feel.

@stepbystep-robotics6881 Am I understanding this correctly, the lidar is highly susceptible to the rolling shutter effect due to the slow mechanical sweep (rotation mirror livox mid 360 only 10Hz), which may require an accurate imu sensor or wheel odometry for predict the displacement of the point cloud on the moving platform thus obtain an accurate lidar odometry xyz position and quat position? Perhaps in this case, wheel odometry can help determine the exact position of the robot on the move. Have you tried solutions like LIW-OAM to obtain a more accurate position?

Hope it will be useful information 😁

@@stepbystep-robotics6881 it definitely is 👍👍

Thank you to PCBWay for the nice 3D printed part. It’s really neat and fast delivery!

I believe the wire mesh could be detected by the MID-360. It could detect some of power line, so in case of planar fence, it might be no problem. The lidar itself is not too expensive, you better to give a try on it. 🙂

From Chinese supplier

Thank you, and no problem. I will keep making it.

Hi Sienna, I am glad to collab with PCBWay, I have seen many of your sponsor videos. Please contact me by [email protected] , I am looking forward.

Payload is 100kg.

Hi, I was using NTRIP for base station, so my GPS resolution is around ~10cm because my GPS status is only RTK Float, rarely RTK Fixed. If I setup local base station, that would be much precise.

Hi, sorry for lack of explaination of specs information. The motor driver could operate from 3s to 6s batteries, but highly recommended to use with 5s or 6s (18V to 24V). The peak current is 100A, so it depends on how much voltage supplying the current drawn would be different, so the higher voltage is better.

@@stepbystep-robotics6881 Thanks for explanation! 🙂

Thank you, yes I understood. There was a lot of work and development in there.

@@stepbystep-robotics6881 How much can you reduce for 100 units?

Did you use this model "Intel Alder Lake N97 Mini PC--NucBox G5" with 12GB RAM ?

Hi. thank you for watching. it's WebRTC. I haven't checked latency officially, but most of the place I tested, the latency is quite similar as in video. If poor connection, the webrtc will just reduce video resolution automatically. The white router there is 4G/LTE.

@@stepbystep-robotics6881 Thanks, Rasheed, for you quick reply. We are building a wheeled robot, we called it BigfootBot. We also have a 4G/LTE modem on the robot. We are using ROS 2. Currenlty we want to add teleoperation with the camera streaming over cellurar network. For teleoperation we tested Foxglove and it worked fine. We have Intel Realsense D435i camera and Rpi camera module V2. We tested realtime streaming using ffmpeg and protocols like RTMP and MPEG-TS but they didn't give good results (latency was even fine but bad quality). Those protocols are very easy to use out of the box. We learned about WebRTC and it seems right solution but is more tricky to install. Could you please advise and direct us (send some links, keywords) how to setup WebRTC? Thanks!

@@stepbystep-robotics6881 Thanks, Rasheed, for you quick reply. I have Intel Realsense D435i camera and Rpi camera module V2. I tested realtime streaming using ffmpeg and protocols like RTMP and MPEG-TS but they didn't give good results (latency was even fine but bad quality). Those protocols are very easy to use out of the box. I learned about WebRTC and it seems right solution but is more tricky to install. Could you please advise and direct me (send some links, keywords) how to setup WebRTC? Thanks!

Yes, it’s possible, I have the PWM board version for ardupilot. attraclab-shop.com/product/atcart-rc-assemble-set/

Thank you! Yes, you can purchase it from xacti directly. All of the control is done from UVC protocol, and unfortunately there is no SDK…but you can take a look on my ROS2 package for example. The Xacti’s engineer could support you as well once you got the product.

Thank you so much for the info and for your efforts on the ros package, I will try to contact them to purchase one for my project.

It’s Dynamixel motor, XM430-W350-R.

@@stepbystep-robotics6881 Thanks for the quick response! Though these motors are too expensive for my project at the moment. Do you have any cheaper recommendations or will any servo motor do?