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help for installing lidar on a drone

asked 2023-07-31 09:27:11 -0500

SébastienL gravatar image

Hi all,

I'm trying to install a lidar on a drone (x500, model provided by PX4 repo).
I found several examples, but all seems outdated.

For the plugin, an example give the name of, another Some doc points to to get the plugin, but the list of available branch is huge, and I already installed libgz-sim7-plugins on my machine (which contains that "does not export any plugins").

Well I'm totally lost ! Which plugin should I used ?

I'm using gazebo garden on ubuntu 22.04. Here is part of my sdf file

<sdf version="1.10">
  <model name="x500_lidar">

  <!--add lidar-->
  <link name="hokuyo_link">
    <pose>0 0 0 0 0 0</pose>
    <sensor type="gpu_ray" name="laser">
      <pose>0 0 0.3 0 0 1.57</pose>
      <plugin name="hokuyo_node" filename="">
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answered 2023-08-01 03:57:09 -0500

SébastienL gravatar image

Answering my own question : I found solution in ros_gz/ros_gz_sim_demos/launch/

In there, I read that plugin gz-sim-sensors-system was the one to use, I have had this clue somewhere, but can't make it worked.
For the sensor itself it's almost the same i used, except the type which is 'gpu_lidar' (param value are also little differents, but I did not check yet how important this is).

Note this publish on gz topics, not ROS2, I have to use a bridge to be able to use those data in ROS (but that is expected).

<sensor name='gpu_lidar' type='gpu_lidar'>
  <pose>0 0 0 0 0 0</pose>
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Asked: 2023-07-31 09:27:11 -0500

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Last updated: Aug 01 '23