Laser scanner implementation

asked 2013-05-21 12:44:45 -0600

Christoph
141 ●17 ●19 ●26

updated 2013-05-21 12:45:33 -0600

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).

Thanks

Christoph

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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 ( 2013-05-29 15:12:56 -0600 )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 ( 2013-05-30 03:57:51 -0600 )edit

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answered 2013-05-27 08:24:49 -0600

Christoph
141 ●17 ●19 ●26

updated 2013-05-27 08:31:29 -0600

Hi,

what I did is: I installed the whole drcsim package and linked directly to the libgazebo_ros_laser.so. 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 -0600

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

Here is an example Gazebo/ROS laser plugin:

https://bitbucket.org/osrf/drcsim/src/b4e76f22bc670ed5bf39aae1f991eb3800bff0a8/ros/atlasmsgs/gazeboros_laser.cpp?at=default

Here is a fairly generic Gazebo ray scanner plugin that you can extend: https://bitbucket.org/osrf/gazebo/src/9e998023acbb0417ca6214047d0a102c9984b927/plugins/RayPlugin.cc?at=default

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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 ( 2013-05-22 09:05:06 -0600 )edit

I also tried the code from this link [https://bitbucket.org/osrf/simulator_gazebo/src/cfbb9c28a8c0/gazebo_plugins/src/gazebo_ros_laser.cpp?at=default](https://bitbucket.org/osrf/simulator_gazebo/src/cfbb9c28a8c0/gazebo_plugins/src/gazebo_ros_laser.cpp?at=default) but got the same error message.

Christoph ( 2013-05-23 06:58:44 -0600 )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 ( 2013-05-23 12:34:59 -0600 )edit

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

Christoph ( 2013-05-24 11:06:59 -0600 )edit

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