Ohmni 2D LiDAR Setup Guide

2D LiDAR Kit Setup Guide

 

---

What is the 2D LiDAR Kit?

The 2D LiDAR Kit is an add-on accessory designed for the Ohmni Robot. On regular, non-developer units, the 2D LiDAR Kit enables a method for Ohmni to detect its surroundings.

When in place, your LiDAR attachment will prevent your Ohmni from colliding with items in its surroundings.

For Developer Edition Robot units, researchers and developers can easily use the 2D LiDAR kit to add a powerful sensor to their robotic workflows.

LiDAR stands for “Light Detection And Ranging.” It is a method of determining the distance from an object by measuring the time taken to send and receive a laser reflected by its nearby surroundings.

Please Note: The 2D LiDAR will no longer be available on Ohmni Gen 13 (PVT 5000+)

---

What’s in the kit

• 1x bag containing:  1x 3mm hex wrench
• 1x RPLiDAR A2M8 kit pre-mounted on LiDAR base

---

Mounting the LiDAR on Ohmni

NOTE: When shipped together, the 2D LiDAR Kit will come pre-mounted on Ohmni.

Using the 3mm hex wrench, completely unscrew the 2X flat head screws that secure the clamp. Firmly rotate the clamp-half out of the way to the fully open position as shown below.

Using the newly opened clamp, mount the clamp to a rear-facing orientation on the Ohmni Robot as depicted below.

The LiDAR mount can be situated at any preferable height on the robot’s lower tube for use. It is recommended to place the LiDAR mount at the common height of objects in the robot’s operating environment.

Once the LiDAR is situated, close the clamp and tighten the 2x flat head screws using the 3mm hex wrench until the LiDAR mount is fully secured onto the tube.

Finally, plug the USB cable into the USB extension hub. You can utilize any USB port you would like, however we recommend leaving the last port on either side of the kit be left open as these grant access to fast charging that could potentially benefit other devices more.

---

Configuring the 2d LiDAR Kit

The object stopping, and object warning range can be modified from the robot’s in-call settings page as depicted below. A more detailed description of these settings can be found below.

This allows users to configure the collision prevention capabilities of the 2D LiDAR Kit to their environment. ie. tighter spaces may benefit from smaller object stopping, and object warning ranges.

---

 

Settings Overview

The Sensor Scanning Rate controls how fast the head on the LiDAR kit rotates and sends out the

With the 2D LiDAR Kit installed, the Ohmni Robot will now have Collision Detection enabled when driving.

Warning, and stopping indicators are now shown in the Navigation Camera of the driving view. These are the settings available with the 2D LiDAR kit and their effects:

• A Red Indicator will be displayed when an object is within the Ohmni’s front or rear object stopping range. When the indicator is red, Ohmni will automatically prevent driving any further in this direction.
• A Yellow Indicator is displayed when an object is within the Ohmni’s front or rear object warning range. A yellow indicator will change to a red indicator when an object comes into the object stopping range.
• Both have a minimum of .2 meters (about 0.5 feet) and a maximum of 1.5m (about 5 feet)

---

For Developers

If in possession of an Ohmni Robot with a Developer Edition License, the following resources can be used to enable Ohmni development with the 2D LiDAR Kit.

Reference code

Please follow this GitHub repo https://github.com/ohmnilabs/ohmni-lidar for reference code. To request access, please contact [e-mail].

A2M8 LiDAR references

If you require further documentation on the LiDAR, please follow this link https://www.slamtec.com/en/Support#rplidar-a2