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I know this answer is very late one, but I will post just for a reference.

The following worked for me on Gazebo5.1, although it took a bit of time to load.
It might be a good idea to reduce the number of samples at first.

This worked, but the data seemed to have a weird orientation and were published as sensor_msgs/Pointcloud, not Pointcloud2.
I couldn't withstand the inconvenience so I modified the source of plugin in the end.

<sensor name="sensor_ray" type="ray">
    <visualize>true</visualize>
    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
    <ray>
      <scan>
        <horizontal>
          <samples>500</samples>
          <min_angle>0</min_angle>
          <max_angle>6.24</max_angle>
        </horizontal>
        <vertical>
          <samples>16</samples>
          <min_angle>-0.2617993878</min_angle>
          <max_angle>0.2617993878</max_angle>
        </vertical>
      </scan>
      <range>
        <min>0.05</min>
        <max>50.0</max>
      </range>
    </ray>
    <plugin name="plugin_1" filename="libgazebo_ros_block_laser.so">
      <gaussianNoise>0.00</gaussianNoise>
      <hokuyoMinIntensity>1</hokuyoMinIntensity>
      <alwaysOn>true</alwaysOn>
      <updateRate>5</updateRate>
      <topicName>gazebo_vlp</topicName>
      <frameName>base_link</frameName>
    </plugin>
  </sensor>