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Ray sensor pose tag does not work as expected

Hi

I'm using Gazebo version 9.13.2, and when I add a ray sensor to a link (model) if I set the sensor pose to 0's, in the simulation the ray is located in other position as can be seen in the attached figure.

image description

This is the code I'm using

<link name="base_link">
 <sensor name="laser" type="ray">
        <!-- Main properties -->
        <always_on>1</always_on>
        <visualize>true</visualize>
        <update_rate>10</update_rate>
        <pose> 0 0 0  0 0 0 </pose> <!-- This does not work well 0 0.2 0.1  0 0 0 -->
        <!-- Set descriptions specific to camera sensors -->
        <ray>
            <scan>
                <horizontal>
                    <samples>100</samples>
                    <resolution>1</resolution>
                    <min_angle>-0.5</min_angle>
                    <max_angle>0.5</max_angle>
                </horizontal>
                <vertical>
                    <samples>1</samples>
                    <resolution>1</resolution>
                    <min_angle>0</min_angle>
                    <max_angle>0</max_angle>
                </vertical>
            </scan>
            <range>
                <min>0</min>
                <max>10</max>
                <resolution>0.002</resolution>
            </range>
            <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.001</stddev>
            </noise>
        </ray>
    </sensor>

is this the correct behavior? This does not happen with other sensors

Greetings

Asked by IVAN on 2020-08-07 14:59:55 UTC

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Answers

Check the base_link tag. Maybe your mesh has the origin not at the geometric center, but at the corner (happens with solidworks stl files). Use the same coordinates that is under the intertial tag.

Asked by caioaamaral on 2020-08-08 20:32:42 UTC

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