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Not able to Publish hokuyo data in ROS

asked 2014-09-15 05:14:14 -0500

Rahul Sharma gravatar image

Hello,

I would like to publish laser scans, that are performed by e.g the Hokuyo Model in Gazebo to ROS. I have tried this with Fuerte and Hydro without success.

I used this materials: Gazebo 1.9 ROS Hydro Ubuntu 12.04

I then started Gazebo with this command

roslaunch gazeboros emptyworld.launch

This then gives me these topics in ROS

rostopic list

/clock

/gazebo/link_states

/gazebo/model_states

/gazebo/parameter_descriptions

/gazebo/parameter_updates

/gazebo/setlinkstate

/gazebo/setmodelstate

/rosout

/rosout_agg

In Gazebo I added the Hokuyo model which is already included. I can see the scanarea indicated in blue. I can'T see any new topic in ROS. I can see in the model.sdf that it uses the libRayPlugin.so Plugin. Furthermore I noticed that a topic tag is missing inside the sensor tag. I added one. Still no publishing.Thas how the sensor section model.sdf of the Hokuyo looks like

    <plugin name="laser" filename="libRayPlugin.so" />
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>true</visualize>
  </sensor>

How should I solve it? Thank You

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answered 2014-09-17 13:35:46 -0500

nkoenig gravatar image

Gazebo does not publish information to ROS by default. You need to install some plugins that will connect Gazebo to ROS. There are new of tutorials that describe how to do this at http://gazebosim.org/tutorials?cat=connect_ros.

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New question (http://answers.gazebosim.org/question/7062/ros-plugin-source-code-examples/) related to your answer has just been posted.

K. Zeng gravatar imageK. Zeng ( 2014-09-17 15:45:07 -0500 )edit
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answered 2014-09-15 14:23:35 -0500

K. Zeng gravatar image

I found an answer to a very similar question in this link: http://answers.gazebosim.org/question/5713/hokuyo-not-pubishing-to-ros/. Beyond that, I'm afraid I can't offer any more advice as I am not that familiar with using laser sensors in Gazebo. I hope what I was able to share helped.

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Hello Zeng, thanks for giving answer but I still struggling with the same problem

Rahul Sharma gravatar imageRahul Sharma ( 2014-09-16 13:23:31 -0500 )edit
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Asked: 2014-09-15 05:14:14 -0500

Seen: 2,108 times

Last updated: Sep 17 '14