/low-cost-lidar-comparison

Comparison between RPLIDAR A2, YDLIDAR TG15

Primary LanguagePython

low-cost-lidar-comparison

Comparison between the two low-cost 2D 360° lidar sensors RPLIDAR A2 and YDLIDAR TG15 (ROS 1 bag files)

Accuracy Comparison

Resolution

  • RPLIDAR: 360 rays
  • YDLIDAR: 2019 rays (approx. 150 alternating rays provide no distance)

Scattering

  • RPLIDAR: 0.0152 m
  • YDLIDAR: 0.0076 m

Distance Error

detailed information

  • RPLIDAR: 0.0455 m
  • YDLIDAR: -0.0009 m

Visualization

ROS Rviz

roslaunch low-cost-lidar-comparison comparison.launch result_rviz

Bokeh

use time slider to move in time, by selecting two points the browser console outputs the distance between them
result_bokeh

Measurement setup

measurement_setup

Used ROS packages

Development setup

  • Python 3.8.5
  • Bokeh 2.2.3
  • Google Chrome 89.0.4389.72
  • ROS Noetic