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Error in different computer for gpu_ray max_range

asked 2014-11-07 10:24:31 -0600

Rinaldo Otniel gravatar image

Hello,

I have a problem with gpuray sensor for ROS Indigo integration. Currently we have multiple PCs with the exact same Gazebo version 2.2.1. We have the same exact ROS Indigo. We have installed gazeboros_packages.

So, I have succesfully created a .xacro Pioneer robot model which has gpuray sensor, and all works well. But when I try the exact same model on another PC, the gpuray sensor somehow "does not" detect the maximum range of the sensor (I have tried debugging via RVIZ, the sensor only work on min_range).

Success in PC A:

image description

Failure in PC B, C, etc image description

<gazebo reference="front_sonar_box2">
        <sensor type="gpu_ray" name="front_sonar_box2">
        <pose>0 0 0 0 0 0</pose>
        <visualize>true</visualize>
            <update_rate>40</update_rate>                               <!--update rate-->                  
            <ray>
                <scan>
                        <horizontal>
                            <samples>30</samples>               <!--ray -->
                            <resolution>1</resolution>
                            <min_angle>-0.131</min_angle>           <!-- -${field_of_view/2} -->
                            <max_angle>0.131</max_angle>        <!-- -${field_of_view/2} -->        
                        </horizontal>
                </scan>
                <range>
                        <min>0.08</min>
                        <max>10</max>
                        <resolution>0.01</resolution>
                </range>
            <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.01</stddev>
                </noise>
            </ray>

        <plugin name="gazebo_ros_front_sonar_controller" filename="libgazebo_ros_gpu_laser.so">
                <topicName>/pioneer/sonar/scan2</topicName>
                <frameName>front_sonar_box2</frameName>
            </plugin>
        </sensor>
    </gazebo>

The error is: other PC seems can not "read" the maximum range. (The error also the same for RRBot example with gpu_ray sensor)

I am wondering if anyone has some solution regarding this glitch? Any tips and help is really appreciated, thanks before!

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Comments

I've the same problem using a SDF model :(

SailAvid gravatar imageSailAvid ( 2015-02-22 11:27:55 -0600 )edit

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answered 2015-03-13 04:01:24 -0600

koenlek gravatar image

It is because your GPU is not supported by the gpuray scan simulator. It is as easy as changing gpuray to ray and libgazeborosgpulaser.so to libgazeboros_laser.so in your urdf file...

Unfortunately currently there are no clear error msgs pointing to this as the cause of your issue...

Good luck!

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Asked: 2014-11-07 10:24:31 -0600

Seen: 1,327 times

Last updated: Mar 13 '15