Issue with LiDAR visualization and LRF
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katscan
May 26, 2024, 2:54:09 AM5/26/24
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I have been having 2 minor-ish issues with my Caveatron after assembly and installation. I am waiting to fix these things before I calibrate the Caveatron so I don't have to recalibrate if I have to take it apart again. I appreciate any advice I can get.
LiDAR unit: RPLIDAR S2 (RobotShop)
LRF: JRT M88B6
LiDAR Issue:
When running the LiDAR visualization/testing mode through utilities, the Caveatron crashes randomly, no matter the configuration of the rotation speed/data rate. Is there something wrong with my LiDAR unit or is this a software issue? Has anyone else experienced this? Sometimes (rarely, but for several times in a row), it works perfectly fine. When it crashes, the screen freezes, then the screen turns off and then back on to the main menu. Attached is a video demonstrating the LiDAR crash (at 0:36). Sorry the video quality is terrible, but google groups wouldn't allow me to post a bigger video for some reason.
LRF Issue:
Another issue I have been encountering is the presence of a smaller, fainter second laser dot right below the real one. Outside of the 3D printed case, the LRF only has one dot, but behind the acrylic window in the 3D printed case, it shows up as 2, so I assume this is an issue with the acrylic. I was wondering if anyone else has had this issue before and I'd like to know if it is an issue using it as is, to see if the acrylic LRF window is worth replacing. Is this potentially due to a micro-abrasion on the acrylic? I have confirmed there is no dust inside or outside.
Thanks for reading
LiDAR unit: RPLIDAR S2 (RobotShop)
LRF: JRT M88B6
LiDAR Issue:
When running the LiDAR visualization/testing mode through utilities, the Caveatron crashes randomly, no matter the configuration of the rotation speed/data rate. Is there something wrong with my LiDAR unit or is this a software issue? Has anyone else experienced this? Sometimes (rarely, but for several times in a row), it works perfectly fine. When it crashes, the screen freezes, then the screen turns off and then back on to the main menu. Attached is a video demonstrating the LiDAR crash (at 0:36). Sorry the video quality is terrible, but google groups wouldn't allow me to post a bigger video for some reason.
LRF Issue:
Another issue I have been encountering is the presence of a smaller, fainter second laser dot right below the real one. Outside of the 3D printed case, the LRF only has one dot, but behind the acrylic window in the 3D printed case, it shows up as 2, so I assume this is an issue with the acrylic. I was wondering if anyone else has had this issue before and I'd like to know if it is an issue using it as is, to see if the acrylic LRF window is worth replacing. Is this potentially due to a micro-abrasion on the acrylic? I have confirmed there is no dust inside or outside.
Thanks for reading
katscan
May 26, 2024, 3:00:58 AM5/26/24
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Rev C v 3.20
Rag Rastin
May 27, 2024, 3:44:24 AM5/27/24
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Hello,
LiDAR Issue:
Basically it just happens on 2 of 3 my cavatrons units, no real world use impact. Its just one time use mode, so i would not bother to fix it or report.
LRF Issue:
Not real issue, its just optics flaw. Most of lrf have it. Just get used to it. It't not diversing scan readings, at longer distances you would not see additional dot.
katscan
May 27, 2024, 4:32:11 PM5/27/24
to caveatron-discuss
Thank you for the help! Relieved to know that none of these things have any real use impact.
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