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Thanks for the fast fast response! Unfortunately I have both your suggestions did not help. I can run other ros code in my console and I also sourced the setup.bash in every new terminal I opended. Also the velodyne.world file is calling the model name="my_velodyne".

Hence I will share the code with you now!

velodyne.world:

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- A testing model that includes the Velodyne sensor model -->
    <model name="my_velodyne">
      <include>
        <uri>model://velodyne_hdl32</uri>
      </include>

      <!-- Attach the plugin to this model -->
      <plugin name="velodyne_control" filename="libvelodyne_plugin.so">
    <velocity>2</velocity>
      </plugin>
    </model>

  </world>
</sdf>

velodyne_plugin.cc C:\fakepath\velodyne_plugin.cc

vel.cc C:\fakepath\vel.cc

Thanks again for your help!