Strange Hokuyo laser range with libgazebo_ros_gpu_laser.so
In a trial to publish laser output to ROS world, I followed the tutorial and the range of visualized laser on Gazebo is very short while using the same value from the tutorial (min: 0.1 and max: 30.0). ROS topic was published but due to this shortest range nothing could be detected.
<sensor type="gpu_ray" name="head_hokuyo_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>/spur/laser/scan</topicName>
<frameName>/hokuyo_sensor_link</frameName>
</plugin>
</sensor>
Is this bug or am I doing something wrong?
Btw, cince I switched to libgazebo_ros_laser.so
by following this blog with the following config and I got the laser range I wanted, my issue is resolved.
<sensor type="ray" name="laser">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.1</min>
<max>4.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>Gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="hokuyo_node" filename="libgazebo_ros_laser.so">
<topicName>/spur/laser/scan</topicName>
<frameName>/hokuyo_sensor_link</frameName>
</plugin>
</sensor>
Ubuntu 14.04, Gazebo 2.2.5, ROS Indigo
Asked by IsaacS on 2015-06-27 19:56:27 UTC
Answers
Hi, I had the same problem :)
I think the problem is in video drivers, I use default ubuntu video driver nouveau.
Try to add export LIBGL_ALWAYS_SOFTWARE=1 before launching gazebo simulation, or you may add this line to you ~/.bashrc (or similar) file.
look this comment
Ubuntu 14.04, Gazebo 2.2.3, ROS Indigo, GeForce GT 650M
Asked by vovka on 2016-02-04 15:26:50 UTC
Comments
I can't really upvote but this totally saved me! Also using nouveau drivers.
Asked by kotoko on 2018-04-05 09:18:47 UTC
same, can't upvote but this is the best solution.
Asked by Fookii on 2020-04-08 06:31:00 UTC
Comments