The Valify robot will use a Scanse Sweep (2D LIDAR) as a low cost entry point into the LIDAR world. The Scanse Sweep is a single plane scanner. This means that as its head rotates counterclockwise, it records data in a single plane. The beam starts out at approximately 12.7mm in diameter and expands by approximately 0.5 degrees. On the Robot the Scanse Sweep is mounted on the top of the robot which enables a full 360 degree field of view. The scanning capabilities of the Scanse Sweep allow you to adjust the rotation speed on the fly allowing you to slow it down for more detail, or speed it up for fast reaction times. The range of the Sweep is approximately 40 meters but with limitations. The greater the distance the higher error measurement variability (see below table)
The Scanse Sweep can provide up to 1000 samples per second and have a adjustable rotation frequency of 1-10 Hertz. Currently the price is around $350 USD, which makes it affordable in the world of LIDARs. It is an economical way to replace other range sensors, while providing higher resolution and accurate data*.
My Raise3D N2+ had no tasks in the pipeline for tonight, So I 3D printed the mounting bracket I designed a couple of days ago. The mount was 3D printed with PrimaSelect PETG, 3 shells and 10% infill. Due to the different surfaces I needed to print with support. The mount came out great and everything fit perfectly. The Scanse Sweep was mounted with 4x 2.5M screws on the bracket and there are two different ports at different orientations which may be used to interface the serial port to USB using a FTDI serial to USB converter. Scanse Sweep plugs into a USB hub which is in turn connected to the onboard Jetson.
The instructions for installing the Sweep SDK are straightforward and well documented on the Sweep Github account. Same with the Sweep ROS wrapper.
Here is the Scanse Sweep mounted on the Valify robot Lawnmower.
Small video on the first test of the Scanse Sweep