Object Avoidance bug?

miw01 · November 17, 2025, 2:19am

Hi all.

I set up UGV wtih RP Lidar A2-M12.

Collision avoidance is implemented.

The Avoid function will stop the UGV at a set distance.

With Object Avoidance, the UGV can sometimes successfully avoid obstacles.

However, when approaching a waypoint in auto mode, it will take evasive action and take a long time to arrive.

In the experimental environment, there were no obstacles. When I looked at the proximity sensor log, it was reacting to something.

Mechanically it has the same settings, but if I turn off OA and set it to Avoid it appears to work fine.

Is there some bug?

Case: Object Avoidance

Case : Avoid

rmackay9 · November 18, 2025, 11:37pm

Hi @miw01-san,

I haven’t checked your logs yet but two things come to mind:

the RPLidars don’t work well outdoors. They suffer from false short readings when exposed to sunlight.
Rover’s default main loop rate may not be fast enough to allow capturing the huge amount of data that the lidar produces. It may be necessary to increase SCHED_LOOP_RATE to 200 or even 400.

Hope this helps

miw01 · November 18, 2025, 11:44pm

Dear Randy-san,

So the Rider might not work well outside.
Maybe it would be better if I put a roof on it…

I will try changing the SCHED_LOOP_RATE.

Thank you.

miw01 · November 20, 2025, 7:52am

Dear Randy-san,

Today, I test SCHED_LOOP_RATE to 400, and the rover moved well!

Thank you!

rmackay9 · November 20, 2025, 11:24am