Using MultiSenseSLPlugin.cpp with a robot that is not Atlas

Hi, we bought the multisense for our robot and we have added in our urdf. When we try to load the robot in gazebo we have problem with the spindle link that is not found. Looking inside the code we find out that the atlas name is hardcoded: line 93 in MultiSenseSLPlugin.cpp. Basically even simulating only the multisense is possible only if the robot name is atlas is it? If yes is possible to make that the robot name is taken from the simulation instead of hardcoded?

Thanks

Asked by Enrico Mingo on 2015-04-08 11:20:58 UTC

Comments

Maybe using a ROS parameter to get the atlas name and, if not present, default to "atlas" as it is now could work?

Asked by Jose Luis Rivero on 2015-04-08 12:52:04 UTC

Hi, I don't get the answer: should be done as in line 86 where the robot name is taken no?

Asked by Enrico Mingo on 2015-04-09 03:31:42 UTC

I think Jose is proposing a change to MultiSenseSLPlugin that would resolve your problem.

Asked by scpeters on 2015-04-09 12:21:39 UTC

Thanks Steve, yes what I was proposing was a change to solve the problem.

Asked by Jose Luis Rivero on 2015-04-09 16:01:07 UTC

Answers

I created a drcsim issue to fix this.

Asked by scpeters on 2015-04-09 12:29:16 UTC

Comments

Thank you!

Asked by Enrico Mingo on 2015-04-09 15:23:46 UTC