Can't get sonar data with rostopic echo

asked 2017-11-28 07:05:34 -0600

moshimojo gravatar image

updated 2017-12-07 11:15:43 -0600

I've added a sonar sensor on my custom robot model, and i also added the plugin for the sonar in my xacro file like this:

  <gazebo reference="sonar1">
<sensor name='sonar_sensor' type='ray'>
  <update_rate>10</update_rate>
  <always_on>true</always_on>
  <visualize>true</visualize>
  <ray>
    <scan>
      <horizontal>
        <samples>100</samples>
        <resolution>1</resolution>
        <min_angle>-0.5</min_angle>
        <max_angle>0.5</max_angle>
      </horizontal>
      <vertical>
        <samples>50</samples>
        <min_angle>-0.5</min_angle>
        <max_angle>0.5</max_angle>
      </vertical>
    </scan>
    <range>
      <min>0.2</min>
      <max>5</max>
      <resolution>0.1</resolution>
    </range>
  </ray>
  <plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar1_controller">
<gaussianNoise>0.005</gaussianNoise>
    <topicName>/sensor/sonar0</topicName>
    <frameName>sonar1</frameName>
  </plugin>
</sensor>

</gazebo>

In Topic Visualization window inside gazebo gui i see the topic

/gazebo/default/robot/link_name/sonar_sensor/scan

and i can view the data with the

gz topic -e /gazebo/default/robot/link_name/sonar_sensor/scan

but i want to see the sonar data via

rostopic echo /sensor/sonar0

which is the topicName inside the plugin. So i followed evarobot tutorials and subscribed on that topic. The problem is that when i run

rosrun evarobot_sonar_subs sonar_listener

and then

rostopic echo /sensor/sonar0

i get the message

WARNING: no messages received and simulated time is active. Is /clock being published?

Do i miss something? Thanks in advance!

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Comments

Does running "rostopic list" displays anything related to sonar0? anything in the logs? Running roslaunch with the option output:=screen gives any hint?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2017-11-29 04:59:37 -0600 )edit

Rostopic list displays the topic normally when i rosrun the evarobot file. Roslaunch with that option doesn't give me anything. I also changed the name of the topic through the evarobot cpp file to "/gazebo/default/robot/link_name/sonar_sensor/scan" but nothing changed and i see that also in the rostopic list. But now i'm not able to change it back to sonar0 even if i change the cpp file and build it again.

moshimojo gravatar imagemoshimojo ( 2017-11-29 09:18:46 -0600 )edit

So gazebo itself seems to work well but the plugin libhector_gazebo_ros_sonar.so seems to have some problems. It is part of hector repository, if I'm not wron. You could try getting help into their issue tracker https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/issues

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2017-12-07 13:15:57 -0600 )edit

ok thank you!

moshimojo gravatar imagemoshimojo ( 2017-12-08 10:31:16 -0600 )edit