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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 file is calling the model name="my_velodyne".

Hence I will share the code with you now!

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <!-- A ground plane -->

    <!-- A testing model that includes the Velodyne sensor model -->
    <model name="my_velodyne">

      <!-- Attach the plugin to this model -->
      <plugin name="velodyne_control" filename="">

</sdf> C:\fakepath\ C:\fakepath\

Thanks again for your help!