laser plug-in in urdf fails to publish scan results

asked 2016-01-18 13:16:27 -0500

KishoreKumar P gravatar image

I have added differential drive plug-in and laser sensor (hokuyo) plug-in to my urdf file. I launched the robot in environment shown below and moved the robot using tele-operation.

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Then i launched the rviz and did the setup required to view the scan results fron laser plug-in but it failed (refer the pic below).

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Following are my terminal result and result for rostopic echo /scan respectively.

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Below is my plug-in code

Link & joint

<link name="hokuyo_link">
      <origin xyz="0 0 0" rpy="0 0 0"/>
        <box size="0.1 0.1 0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
        <box size="0.1 0.1 0.1"/>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />

  <joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0 -0.055 0.2" rpy="0 0 0"/>
    <parent link="Base_plate"/>
    <child link="hokuyo_link"/>

Laser controller

<gazebo reference="hokuyo_link">
    <sensor type="gpu_ray" name="hokuyo">
      <pose>0 0 0 0 0 0</pose>
      <plugin name="gpu_laser" filename="">

How to fix the prblem and obtain the results from laser plug-in?

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