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Laser scanner implementation

asked 2013-05-21 12:44:45 -0500

Christoph gravatar image

updated 2013-05-21 12:45:33 -0500

Hey everyone,

I wanted to know how to add and implement a laser scanner / laser scanner plugin to my robot. The data of the scanner shall be passed to rviz by using ROS messages.

I got a Gazebo standalone installation with ROS installed afterwards.

My robot so far consists of a moveable base which I can move around through ROS cmd_vel messages. The control is implemented via a gazebo model plugin. As a first step I added a sensor to my sdf file with the data of our real laser scanner. But now I need the logic for an appropriate gazebo plugin (no point cloud).

Thanks

Christoph

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sorry, I am unable to help you to answer this question. Could you please help me how to move around using cmd_vel? I am doing this step currently also. thank you

gazer gravatar imagegazer ( 2013-05-29 15:12:56 -0500 )edit

Hi! Can you make that a real question please. Because the text limit in comments is quiet low and the answer maybe interest other people too. Thanks.

Christoph gravatar imageChristoph ( 2013-05-30 03:57:51 -0500 )edit

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answered 2013-05-27 08:24:49 -0500

Christoph gravatar image

updated 2013-05-27 08:31:29 -0500

Hi,

what I did is: I installed the whole drcsim package and linked directly to the libgazebo_ros_laser.so. That may not be the best solution, but for the time being that will work for me.

Thanks for your help.

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answered 2013-05-21 17:27:08 -0500

nkoenig gravatar image
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Hi Nathan, I did the following: I took the code from your first link and added it to my project to get a working lib file. So far I didn't get any errors. When I loaded my model in Gazebo it crashed with the message: "Failed to load plugin PATH TO MY PLUGIN undefined symbol: _ZTIN6gazebo9RayPluginE"

Christoph gravatar imageChristoph ( 2013-05-22 09:05:06 -0500 )edit

Can you do a search in your worlds and code for "PATH TO MY PLUGIN". I think you may have cut and paste some example code without filling the correct value.

nkoenig gravatar imagenkoenig ( 2013-05-23 12:34:59 -0500 )edit

I am using absolute paths. I also have another plugin in that path which I start successfully with my model in gazebo.

Christoph gravatar imageChristoph ( 2013-05-24 11:06:59 -0500 )edit
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Asked: 2013-05-21 12:44:45 -0500

Seen: 1,687 times

Last updated: May 27 '13