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Publish a Gazebo message into a ROS topic?

asked 2018-04-01 08:57:32 -0600

Mansan gravatar image

I've been following this toturial (http://gazebosim.org/tutorials?tut=gu...) to create a pulgin in Gazebo and to be able to control it with ROS. Now i would like to publish the sensor scan data (that i think is only available as a Gazebo message ) into a ROS node. It is posible to edit this plugin to add this functionality?Is there any tutorial/resource/code explained that I can take a look to understand how it works?

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answered 2018-04-02 05:24:39 -0600

Raskkii gravatar image

It is definitely possible to edit the plugin you already have. Another option is to use an already existing plugin in the gazebo_ros_pkgs library that publishes your laser data to a ROS topic. The plugin you are looking for is libgazebo_ros_laser.so. You can find the source code from here:

http://docs.ros.org/jade/api/gazebo_plugins/html/gazebo__ros__laser_8cpp_source.html

So you have two options here:

1) Modify your existing plugin to also have the functionality of advertising the laser scan data to a ROS topic by using the given source code as a reference.

2) Adding the existing gazebo_ros_laser plugin to your SDF file like so:

<sensor type="ray" name="sensor">
  <pose>0 0 -0.004645 1.5707 0 0</pose>
  <visualize>true</visualize>
  <update_rate>30</update_rate>
  <ray>
    <scan>
      <horizontal>
        <samples>32</samples>
        <resolution>1</resolution>
        <min_angle>-0.53529248</min_angle>
        <max_angle>0.18622663</max_angle>
      </horizontal>
    </scan>
    <range>
      <min>0.05</min>
      <max>70</max>
      <resolution>0.02</resolution>
    </range>
  </ray>
  <plugin name="sensor_plugin" filename="libgazebo_ros_laser.so">
    <topicName>/your/sensor/topic/name</topicName>
    <frameName>/your/frame/name</frameName>
  </plugin>
</sensor>

Notice the plugin tag at the end of the sensor tag. The libgazebo_ros_laser come inside the gazebo_ros_pkgs package which you probably already have installed.

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Thanks for answering! I've been trying to solve it in the easy way, and its not working for me. I add the "libgazebo_ros_laser.so" , and set the topic and framename, but i can´t see the rostopic. And I think that the problem is that Gazebo doesn't even try to load the plugin, because no matter what I write in the "filename" field, I don't get an error which is weird. Any idea why this happends? Anyway, the code of the plugin is being useful and maybe I can adapt my own gazebo plugi

Mansan gravatar imageMansan ( 2018-04-02 08:15:48 -0600 )edit

Can you launch Gazebo with --verbose option to possibly see more error messages?

Raskkii gravatar imageRaskkii ( 2018-04-02 08:42:57 -0600 )edit

Ok, I get the error message(gazebo cannot find the plugin).But I've tried with rosrun gazebo_ros gazebo, and when I add my model I can see the laserscan topic. The only thing is ,that I cannot run the .world (so the model doesn,t rotate ) but I think that it can be solved creating a launch file with my .world file, and then using roslaunch.

Mansan gravatar imageMansan ( 2018-04-02 10:01:59 -0600 )edit

To run a .world file you can just do rosrun gazebo gazebo_ros your.world. But you're right you can also use a .launch file for this.

Raskkii gravatar imageRaskkii ( 2018-04-03 01:28:51 -0600 )edit
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Asked: 2018-04-01 08:57:32 -0600

Seen: 699 times

Last updated: Apr 02