After installing LiDAR on my vehicle, which is functioning perfectly according to the Radius ( radar display), I’m having trouble getting the vehicle to stop when it encounters an obstacle. I’ve gone through all the setup options, from basic “avoid by stopping” to using the (BenduRuler) method to avoid obstacles, but nothing seems to be working. I will attach the latest (bench test) log file for reference.
2025-01-05 11-06-49.zip (947.2 KB)
Hi @craig_bates,
Sorry for the delay, I hope to look at this soon
Hi @craig_bates ! As per logs, you are in Manual mode. Obstacle avoidance doesn’t work in MANUAL mode. Simple Object Avoidance — Rover documentation
Bendy Ruler and Djikstra’s works in Auto mode and Guided mode.
Yes, the logs I sent correspond to the settings I have configured on my rover. When I try to upload a larger file, the forum rejects it, saying the file is over 4 MB, even though it is only 3 MB. I have also attached two JPG files showing that I ran the rover in auto mode and that the stop function did not trigger.
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Hi @craig_bates,
It looks like you’re using Rover-4.5.7 which is fine but I’ll move this conversation to the 4.5 area unless you’re interested in testing the beta version.
A couple of small things that I see:
- WP_ACCEL is set to 30m/s/s which is very fast. This could make AP’s controllers think that it can start and stop almost instantly which could cause it to delay the slowdown until the very last moment
- WP_RADIUS is set to a slightly odd number of 0.89916. I suspect this was caused by MP’s Plan screen’s “WP Radius” field which I think we should probably remove (see issue here)
- RNGFND1_MAX_CM is only 300cm (3m) while the AVOID_MARGIN is 2m so there’s not much time to slowdown
Perhaps it’s clear but in any case BendyRuler will attempt to avoid obstacles while simple avoidance will attempt to stop. If stopping is the key requirement then I’d recommend turning off bendyruler by setting OA_TYPE = 0.
If you could provide a log while the vehicle is in Auto mode that’d be good. As you say Discuss doesn’t allow very large files so the log might need to be placed on some other service (e.g. DropBox, Google Drive, etc)
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Hi @rmackay9
Here are the changes I have made:
- WP_ACCELL set to default 0
- WP_RADIUS set to 1
- RNGFND1_MAX_CM set to 800
ran several tests and no change. Then I set OA_TYPE = 0
again, no change.
Could it be my test setup?
I am setup on a fixed location and move towards the LIDAR until the desired distance is met. again, the file is too large, so I took a snapshot of the results.
Hi @craig_bates,
it’s tough to know without a log. I guess you’re driving the vehicle in Acro mode? Manual mode won’t work of course but that’s been mentioned above already so I suspect that’s not the issue.
… ah, and the vehicle has a good position estimate? The arming-check are all enabled?
Seeing that I am using this for marine surveying I did disable a few arming checks. Would they show up in the earlier log? Which arming checks do I need active?
Do you know if anyone is working on the WayPonDEV LD14P 2D 360 Degree Lidar ? It’s fairly short range but it’s very affordable.
Hi @craig_bates,
I think there shouldn’t be any reason to turn any of them off so I’d set ARMING_CHECK = 1.
I’m not sure about the WayPonDEV LD14P but there is this issue about another “LD” lidar