![]() | 1 | initial version |
Hi, at the end ended up solving the issue by creating a master model and including my URDF and velodyne SDF files in it, then added a joint to fix them together.
<model name="mower_complete">
<include>
<uri>model://mower_description</uri>
<static>false</static>
<pose>0 0 0 0 0 0</pose>
</include>
<include>
<uri>model://mower_gazebo/models/velodyne</uri>
<pose>1.15 0 0.6 0 0 0</pose>
</include>
<joint type="fixed" name="sensor_to_mower_joint">
<pose>0 0 -0.036785 0 0 0</pose>
<parent>mower::chasis</parent>
<child>velodyne::velodyne_base</child>
</joint>
</model>
The Velodyne sensor ray is working now and the topic is being published. I do not know if this is the best practice or recommended, but it is working!
Please let me know if there is a better way to include this, as the gazebo tag did not work on Gazebo 9 Ros Medolic.