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VLP16 does not move with Turtlebot

asked 2017-10-13 03:44:15 -0500

updated 2017-10-13 09:11:36 -0500

Hi. I am trying to place a Velodyne Lidar Puck 16 on the top of a Turtlebot model in Gazebo. [ROS Kinetic - Gazebo 7.0]. All is good, until i apply a force/torque to the turtlebot: the robot moves, the lidar does not.

Where is the error?

In order to attatch the lidar to the turtlebot i modified the sdf model in this way:

  <pose>0 0 0.45 0 0 0</pose> 
<joint name="VLP16_joint" type="fixed"> 

The sdf file of the lidar is:

<sdf version="1.6">
  <model name="velodyne-VLP16"> 
     <link name="base_footprint"> 
         <pose frame="">0 0 0 0 0 0</pose> 

<collision name='base_footprint_collision_1'>
  <pose frame=''>0 0 -0.00185 0 0 0</pose>
<visual name='base_footprint_visual_1'>
  <pose frame=''>0 0 -0.0377 0 0 0</pose>
      <scale>1 1 1</scale>
<visual name='base_footprint_visual_2'>
  <pose frame=''>0 0 -0.0377 0 0 0</pose>
      <scale>1 1 1</scale>
<visual name='base_footprint_visual_3'>
  <pose frame=''>0 0 -0.0377 0 0 0</pose>
      <scale>1 1 1</scale>

<sensor name='velodyne-VLP16' type='ray'>
  <plugin name='gazebo_ros_laser_controller' filename='libgazebo_ros_velodyne_laser.so'>
  <pose frame=''>0 0 0 0 0 0</pose>
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answered 2017-10-13 09:18:07 -0500

Do you see any errors if you run Gazebo in verbose mode? (--verbose)

It would also be helpful to see exactly how you placed the include and the joint into the turtlebot, make sure they are within the <model> tag.

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Asked: 2017-10-13 03:44:15 -0500

Seen: 366 times

Last updated: Oct 13 '17