# Revision history [back]

### Can't get sonar data with rostopic echo

I've added a sonar sensor on my custom robot model, and i also added the plugin for the sonar in my xacro file like this:

  <gazebo reference="sonar1">
<sensor name='sonar_sensor' type='ray'>
<update_rate>10</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
<ray>
<scan>
<horizontal>
<samples>100</samples>
<resolution>1</resolution>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</horizontal>
<vertical>
<samples>50</samples>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar1_controller">
<gaussianNoise>0.005</gaussianNoise>
<topicName>/sensor/sonar0</topicName>
<frameName>sonar1</frameName>
</plugin>
</sensor>


</gazebo>

In Topic Visualization window inside gazebo gui i see the topic

and i can view the data with the

but i want to see the sonar data via

rostopic echo /sensor/sonar0

which is the topicName inside the plugin. So i followed evarobot tutorials and subscribed on that topic. The problem is that when i run

rosrun evarobot_sonar_subs sonar_listener

and then

rostopic echo /sensor/sonar0

i get the message

WARNING: no messages received and simulated time is active. Is /clock being published?

Do i miss something? Thanks in advance!

### Can't get sonar data with rostopic echo

I've added a sonar sensor on my custom robot model, and i also added the plugin for the sonar in my xacro file like this:

  <gazebo reference="sonar1">
<sensor name='sonar_sensor' type='ray'>
<update_rate>10</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
<ray>
<scan>
<horizontal>
<samples>100</samples>
<resolution>1</resolution>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</horizontal>
<vertical>
<samples>50</samples>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</vertical>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar1_controller">
<gaussianNoise>0.005</gaussianNoise>
<topicName>/sensor/sonar0</topicName>
<frameName>sonar1</frameName>
</plugin>
</sensor>


</gazebo>

In Topic Visualization window inside gazebo gui i see the topic

and i can view the data with the

but i want to see the sonar data via

rostopic echo /sensor/sonar0

which is the topicName inside the plugin. So i followed evarobot tutorials and subscribed on that topic. The problem is that when i run

rosrun evarobot_sonar_subs sonar_listener

and then

rostopic echo /sensor/sonar0

i get the message

WARNING: no messages received and simulated time is active. Is /clock being published?

Do i miss something? Thanks in advance!