New experience of PALMSLAM handheld lidar mapping | RobotShop Community

PALMSLAM is a handheld lidar mapping scanner device that is compatible with 5 common lidars: EAI X3 Pro, EAI T-mini plus, SLAM C1, Oradar MS200, EAI 4ROS. These 5 lidars have different prices and performances. Users can choose the lidar configuration that suits them according to their own usage environment or project requirements. PALMSLAM comes with a expansion board that integrates an ESP32 processor and a 6-axis IMU sensor. The lidar data is transmitted to the host device through microROS wireless communication technology to view the mapping effect in real time. 6-axis IMU monitors the holding posture in real time to ensure that PALMSLAM remains horizontal during mapping and obtains more accurate data. Compared with traditional mapping on computer or vehicle-mounted lidar mapping solutions, PALMSLAM is more flexible, portable, and easy to operate. It is an ideal choice for fast and accurate mapping.

Gmapping handheld lidar mapping

Use the Gmapping algorithm to mapping, and you can preview the map creation process on the virtual machine.

Cartographer handheld lidar mapping

Use the Cartographer algorithm to mapping, and you can preview the map creation process on the virtual machine.

APP Handheld lidar mapping

Preview the map creation process in real time on the mobile APP.

Handheld lidar ranging

The distance information in front of the lidar is displayed on the OELD. When the distance is less than the preset value, a buzzer warning is triggered.

◆Comparison of the advantages of handheld lidar mapping

PALMSLAM has unparalleled advantages in portability and cost-effectiveness. Users do not need to carry a laptop and use PALMSLAM to build maps anytime, anywhere.

In contrast, traditional computer graphics solutions usually require bulky equipment, while robotic vehicle-mounted lidars can complete complex tasks but have disadvantages in cost and flexibility.

▶Strong portability: The device is lightweight and easy to carry, suitable for all scenarios.

▶High cost performance: Compared with car-mounted robots, handheld lidars have lower cost of mapping, and can provide the same precision mapping effect.

▶Easy to operate: Just simply configure the handheld device to build maps, eliminating complex operation settings and suitable for rapid deployment.

▶High flexibility: Suitable for indoor and outdoor environments, no need to rely on external power supply or complex settings, and flexibly respond to different scenarios.

Direct connection to computer for mapping disadvantages

▶The equipment is bulky: it is necessary to carry a bulky laptop and external hardware, which greatly limits the use scenarios.

▶Dependence on power supply: it requires external power supply support, especially in dynamic environments.

▶Lack of flexibility: limited by the direct connection between the computer and the radar, the flexibility is poor, especially when the mobile device is needed, the efficiency is low.

Robot mapping disadvantages

▶High equipment cost: The cost of robot vehicle-mounted mapping systems is high, especially for small-scale or limited budget projects, which may not be suitable.

▶Complex operation: The robot needs to be programmed and debugged, and the operation cost and maintenance are relatively complex.

▶High environmental requirements: Some robots usually need to drive on a fixed path, due to factors such as terrain and space.

microROS wireless communication technology

MicroROS is a lightweight version of ROS2 officially designed for micro-controller environments. It supports the efficient implementation of ROS2 applications on resource-constrained hardware platforms and is a cost-effective solution for learning ROS2. You can implement ROS2 applications through Micro ROS in micro-controller environments such as ESP32 and Arduino, without purchasing expensive Linux edge computing devices such as Jetson and Raspberry Pi master controllers.

WiFi-UDP mode

After PALMSLAM connects to the WiFi-UDP proxy of the virtual machine/computer, the virtual machine can directly subscribe to topics published by MicroROS without having to physically connect to PALMSLAM, achieving truly wireless communication.