Block Laser plugin for Pointcloud2

asked 2019-10-09 07:26:36 -0600

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I am using the block laser plugin from gazebo_ros_pkgs (currently running ROS Melodic and Gazebo9) but I want the output to be a PointCloud2 topic and not PointCloud. I am aware of the fact that there is a convertPointCloudToPointCloud2 in sensor_msgs, but feeding it with a large scale scan causes pretty serious delay issues. There is a fork of the gazebo_ros_pkgs in github (in indigo and jade devel branches) but it's for an older version of ROS (indigo and jade). I was wondering if anyone has found a block laser plugin to work for ros melodic and gazebo9.

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answered 2020-10-19 20:28:14 -0600

wongrufus
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updated 2020-10-19 20:36:26 -0600

You can consider velodyne's implementation which extends the default gazebo_ros_block_laser to publish PointCloud2

Just run

sudo apt install ros-melodic-velodyne-gazebo-plugins

and replace, in your model.sdf, libgazebo_ros_block_laser.so with libgazebo_ros_velodyne_laser.so

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Just some feedback. This solution works fine for me!

Nobel ( 2022-06-02 15:26:39 -0600 )edit

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answered 2019-10-14 08:04:06 -0600

chapulina
7504 ●2 ●23 ●54 https://louise.world/

There's an open pull request implementing this for Melodic.

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