Pose getting ignored in urdf

asked 2019-10-10 04:48:26 -0500

hburau gravatar image

I am trying to get a sensor with the type ray on my robot. In order to get it working both on ROS and Gazebo i created multiple urdf-Files and combined them with xacro. The <sensor>-Tag does work but the <pose> -Tag gets ignored. The lidar is rotated to the wrong direction so i tried to rotate it 90° on the z-Axis. But it seems that it doesnt affect the sensor. Am I using the tag wrong or how am I supposed to change the direction and position of the sensor?

My Gazebo version is 9.9.0

<?xml version="1.0"?>
<robot name="lidar" xmlns:xacro="http://www.ros.org/wiki/xacro">
 <xacro:macro name="lidar">
     <link name="lidar">
                 <mesh filename="package://titanic_description/meshes/lidar.dae"/>

      <joint name="lidar_to_base" type="fixed">
          <parent link="base_link"/>>
          <child link="lidar"/>
         <origin xyz="0 0.29 0.08" />

    <gazebo reference="lidar">
          <sensor type="ray" name="head_hokuyo_sensor">
              <pose>0 0 0 0 0 1.57070</pose>
              <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_


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Did you ever find the problem or a solution? I'm having the same issue :/

patrick gravatar imagepatrick ( 2020-02-23 03:38:29 -0500 )edit