Velodyne rays don't detect actor animations

asked 2016-07-20 16:51:01 -0600

florian7
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updated 2016-07-20 16:51:27 -0600

Hi all,

I followed the steps in the actor tutorial on Gazebo8 http://gazebosim.org/tutorials?tut=ac...

and I can spawn animated characters that move in front of a simulated Kinect sensor and a Velodyne (VLP16, block laser sensor). The Kinect depth image can clearly detect the animated character, however the Velodyne rays can't. Looking back at the tutorial, it says that "They [animated characters] will, however, have a 3D visualization which can be seen by RGB cameras, and 3D meshes which can be detected by GPU based depth sensors."

Does that mean that non-GPU based laser sensors will not be able to see the animated character? If not, is there a reason why the block laser would not see it?

Thanks!

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Have you found any solution on that?

klapetos ( 2017-12-06 12:34:34 -0600 )edit

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Thanks for the clarification! Do you think writing a new, GPU-enabled, block laser plugin for gazebo is the way to go, then? Is there a technical reason OSRF hasn't implemented this already? Or is it due to something else?

florian7 ( 2016-07-20 17:48:53 -0600 )edit

@ chapulina I am using Gazebo 11 and I see the same behavior where gazebo actors are being detected by non-GPU laser. Is there a plan to add this capability in the near future to Gazebo?

PKGosal ( 2020-08-19 22:46:31 -0600 )edit

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Velodyne rays don't detect actor animations

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Velodyne rays don't detect actor animations