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Laser scanner implementation

asked 2013-05-21 12:44:45 -0500

Christoph gravatar image

updated 2013-05-21 12:45:33 -0500

Hey everyone,

I wanted to know how to add and implement a laser scanner / laser scanner plugin to my robot. The data of the scanner shall be passed to rviz by using ROS messages.

I got a Gazebo standalone installation with ROS installed afterwards.

My robot so far consists of a moveable base which I can move around through ROS cmd_vel messages. The control is implemented via a gazebo model plugin. As a first step I added a sensor to my sdf file with the data of our real laser scanner. But now I need the logic for an appropriate gazebo plugin (no point cloud).



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sorry, I am unable to help you to answer this question. Could you please help me how to move around using cmd_vel? I am doing this step currently also. thank you

gazer gravatar imagegazer ( 2013-05-29 15:12:56 -0500 )edit

Hi! Can you make that a real question please. Because the text limit in comments is quiet low and the answer maybe interest other people too. Thanks.

Christoph gravatar imageChristoph ( 2013-05-30 03:57:51 -0500 )edit

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answered 2013-05-27 08:24:49 -0500

Christoph gravatar image

updated 2013-05-27 08:31:29 -0500


what I did is: I installed the whole drcsim package and linked directly to the That may not be the best solution, but for the time being that will work for me.

Thanks for your help.

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answered 2013-05-21 17:27:08 -0500

nkoenig gravatar image
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Hi Nathan, I did the following: I took the code from your first link and added it to my project to get a working lib file. So far I didn't get any errors. When I loaded my model in Gazebo it crashed with the message: "Failed to load plugin PATH TO MY PLUGIN undefined symbol: _ZTIN6gazebo9RayPluginE"

Christoph gravatar imageChristoph ( 2013-05-22 09:05:06 -0500 )edit

Can you do a search in your worlds and code for "PATH TO MY PLUGIN". I think you may have cut and paste some example code without filling the correct value.

nkoenig gravatar imagenkoenig ( 2013-05-23 12:34:59 -0500 )edit

I am using absolute paths. I also have another plugin in that path which I start successfully with my model in gazebo.

Christoph gravatar imageChristoph ( 2013-05-24 11:06:59 -0500 )edit

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Asked: 2013-05-21 12:44:45 -0500

Seen: 2,750 times

Last updated: May 27 '13