@count74, So I guess the plan is to use Rover’s Dodge avoidance? This method of avoidance is very old and with careful tuning it can work in very specific situations but it’s not a good general purpose solution. We’ve got “BendyRuler” and “Dijkstra’s” methods coming in the next version of Rover. There are some videos of these algorithms in action in the simulator and on a real vehicle on my youtube channel.
Putting that all aside, if you really want to get Dodge working then here are some points that may help:
- the arduino should send DISTANCE_SENSOR messages. there should be an orientation field in these messages and this field should match the RNGFNDx_ORIENT parameter for the range finder that should receive the distance.
- the lidar should be setup as two Lidar, no need to set up the proximity sensor.