Sensor Operations

This section covers sensor operations and maintenance for the RCR Common Robotics Platform.

Sensor Types

LiDAR Operations

LiDAR Operations - LiDAR setup and troubleshooting

Camera Operations

Camera Operations - Camera configuration and usage

IMU Operations

IMU Operations - IMU calibration and monitoring

Sensor Overview

The robot is equipped with several key sensors:

LiDAR - For obstacle detection and mapping
Camera - For visual perception and navigation
IMU - For orientation and motion sensing
Encoders - For wheel odometry

Quick Reference

Check Sensor Status

# List all sensor topics
ros2 topic list | grep -E "(scan|camera|imu|odom)"

# Check sensor data rates
ros2 topic hz /${ROS_NAME}/scan
ros2 topic hz /${ROS_NAME}/camera/image_raw
ros2 topic hz /${ROS_NAME}/imu/data

Common Commands

# Launch sensors
ros2 launch common_platform camera.launch.py
ros2 launch common_platform rplidar.launch.py

# Monitor sensor data
ros2 topic echo /${ROS_NAME}/scan
ros2 topic echo /${ROS_NAME}/camera/image_raw
ros2 topic echo /${ROS_NAME}/imu/data

Troubleshooting

Common sensor issues:

No data from sensors
Poor data quality
Calibration problems
Connection issues

See Troubleshooting for solutions.

For setup procedures, see Setup For troubleshooting, see Troubleshooting