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Using MultiSenseSLPlugin.cpp with a robot that is not Atlas

asked 2015-04-08 11:20:58 -0500

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?


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

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2015-04-08 12:52:04 -0500 )edit

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

Enrico Mingo gravatar imageEnrico Mingo ( 2015-04-09 03:31:42 -0500 )edit

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

scpeters gravatar imagescpeters ( 2015-04-09 12:21:39 -0500 )edit

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

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2015-04-09 16:01:07 -0500 )edit

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answered 2015-04-09 12:29:16 -0500

scpeters gravatar image

I created a drcsim issue to fix this.

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answered 2015-04-09 15:23:46 -0500

Thank you!

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Asked: 2015-04-08 11:20:58 -0500

Seen: 132 times

Last updated: Apr 09 '15