Hokuyo Laser plugin only returns INF value reading.

asked 2020-01-30 19:32:36 -0500

chngdickson gravatar image

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Hokuyo laser only prints out inf laser scan values, while the laser is within distance. as stated in the gazebo ros laser reference REP117

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Idk what's going on, i've adjusted the inertias to a valid value. My parameters for the laser sensors are as such...

    <gazebo reference="base_laser_${number}_${location}">
        <sensor type="ray" name="laser">
            <pose>0 0 0 0 0 0</pose>

The behavior of my laser sensor going inf inf inf only happens when the model started moving. When it's static, the range shows up as such.

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Please any help would be appreciated.

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Did you get it to work? Can you see the laser visualization in Gazebo?

robotlab gravatar imagerobotlab ( 2020-10-15 16:53:15 -0500 )edit

I'm having a similar issue. I'm not sure what is going on. I was successfully seeing lidar data when running using a VM but when I brought everything over to a computer where I could run natively, the lidar values switched from .inf when it did see anything and a range when it did to all -.inf values regardless of whether something is present or not. I tried sticking something behind the 'robot' as well in case the rays were projecting backwards. Moving doesn't change the behavior.

raefsel gravatar imageraefsel ( 2022-05-04 14:34:43 -0500 )edit

To piggyback onto my previous comment, I figured out that by switching from "gpu_ray" to "ray" I could get good data again provided that I have my collision geometry set up properly. Apparently there may be an issue with the GPU drivers on this computer? The VM was running on this same computer when I had Windows on it.

raefsel gravatar imageraefsel ( 2022-05-04 15:28:42 -0500 )edit