WiiDar lidar lassiters and laser placement (oh yeah, it works)
April 19, 2011
This might be directed only to Grog and Gareth, but I am open to any thoughts.
My WiiDar is up and running and spitting out super-duper-awesome numbers. However, the fact that the whole sensor assembly is physically on the right side of the robot and the the fact that the laser is on an arm (even further to the side) has led to some problems. Basically, my center-line changes as we move closer and further away from the robot. It is like we are sitting on wrong "part" of the "arc" --like we should be sitting on a pivot, but we are instead sitting on the arm. The simple fact is, that because of the length of the arm and the angle of the laser, well, things are a little funny.
I have thought about a pretty simple solution, or at least one I want to try, but before I start making major hardware changes, I thought I would run it past you guys. What if the camera was on the arm (at an angle) and the laser was pointing straight forward, directly on top of the main pivot. Have you guys ever tried this configuration? --How about the "main pivot" in the center and both the camera and laser on a 1/2 arm each and each with 1/2 the angle?
The last thing I want to do here is damage "good" trying to get "perfect" but this could be a lot "straighter"