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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.