The laser scanner shows vertically.
Hello.
I have some problems with the lidar in Gazebo, he visualizes his viewing angle vertically (photo below).
I understand that the problem is most likely in the urdf file and coordinates, but when changing the coordinates of the rpu, the position of the lidar relative to the base changes and becomes incorrect. I put the file description of the lidar and urdf. I use ubuntu 16.04, gazebo 7, ROS kinetic.
<gazebo reference="lidar_Link">
<sensor type="gpu_ray" name="head_hokuyo_sensor">
<pose>0 0 0 1.57 0 0</pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.57</min_angle>
<max_angle>1.57</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>lidar</topicName>
<frameName>lidar_Link</frameName>
</plugin>
</sensor>
</joint>
<link
name="lidar_Link">
<inertial>
<origin
xyz="-0.00748448520155036 0.0107642484685222 9.23258810867893E-05"
rpy="0 0 0" />
<mass
value="1.32500692137329" />
<inertia
ixx="0.000608332242778497"
ixy="0.000158213161725828"
ixz="8.018601126292E-07"
iyy="0.00108767494554066"
iyz="3.10338854918562E-06"
izz="0.000950463889297707" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_robot8/meshes/lidar_Link.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://my_robot8/meshes/lidar_Link.STL" />
</geometry>
</collision>
</link>
<joint
name="lidar_Joint"
type="fixed">
<origin
xyz="-0.00130997440115162 0.00362996782486146 0.083412672552623"
rpy="1.57834120194613 -0.0293512866690902 1.57" />
<parent
link="base_link" />
<child
link="lidar_Link" />
<axis
xyz="0 0 0" />
Sorry for the visualization of the code, some problems...with my hands. Thanks in advance for your help!
Asked by Ilya_novichok on 2020-06-20 15:47:53 UTC
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