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Dynamic objects in Gazebo does not produce laser scan

Hi there,

I am new to ROS and Gazebo, please excuse me if this has been answered.

I am trying to use citysim as my world to run a simulated husky robot. Everything works well, the navigation stack is able to identify static obstacles but when encountering a dynamic obstacle, the /scan topic does not produce the moving obstacle in RVIZ and hence does not produce anything in my costmaps.

I can see that all cars have a collision and I do receive laser scans from parked cars, its just moving cars that do not show returns for the laserscan.

Note pedestrians also do not have a laserscan return.

image description

Parked cars could be seen

Parked cars could be seen but not moving cars

image description

The moving car (middle) cannot be seen by the laser scan

Thanks in advance