How can I visualise the ultrasonic sensor in Gazebo?
I want to add a gazebo plugin which is called 'sonar'. Here is my code that I took from the source:
<gazebo reference="ultrasonic">
<sensor type="ray" name="sonar">
<pose>0.25 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>1.0</resolution>
<min_angle>-0.25</min_angle>
<max_angle>0.25</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.25</min_angle>
<max_angle>0.25</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.75</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>5</updateRate>
<topicName>/genius/sonar</topicName>
<frameName>ultrasonic</frameName>
<fov>0.5</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
I have added visualize to be true but in a gazebo simulation I can't see the cone shaped array from the sonar. What am i doing wrong here? Btw, I have added links and joints in my main xacro file, so the fault isn't there.
Asked by stevemartinov on 2018-09-19 03:24:00 UTC
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