laser topic problem and gazebo model
I am using pioneer3at gazebo model. But when I added hokuyo lidar on pionner3at model in sdf file , ı can not see /scan topic or another topic with $rostopic list. How can ı add scan topic as ı see with rostopic echo /scan or rviz.
this is my sdf model:
<?xml version="1.0" ?>
<sdf version="1.5">
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='pioneer3at'>
<pose>0 0 0.18 0 -0 0</pose>
<static>0</static>
<link name='chassis'>
<inertial>
<mass>14</mass>
<inertia>
<ixx>0.3338</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.4783</iyy>
<iyz>0</iyz>
<izz>0.3338</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.501 0.4 0.19</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='right_front_wheel'>
<pose>0.125 -0.201 -0.06 1.5707 -0 0</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='left_front_wheel'>
<pose>0.125 0.201 -0.06 1.5707 -0 0</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='right_rear_wheel'>
<pose>-0.125 -0.201 -0.06 1.5707 -0 0</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='left_rear_wheel'>
<pose>-0.125 0.201 -0.06 1.5707 -0 0</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<joint name='right_front' type='revolute'>
<pose>0 0 0 0 -0 0</pose>
<child>right_front_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='right_rear' type='revolute'>
<pose>0 0 0 0 -0 0</pose>
<child>right_rear_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='left_front' type='revolute'>
<pose>0 0 0 0 -0 0</pose>
<child>left_front_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='left_rear' type='revolute'>
<pose>0 0 0 0 -0 0</pose>
<child>left_rear_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<plugin name='SkidSteerDrivePlugin' filename='libSkidSteerDrivePlugin.so'>
<right_front>right_front</right_front>
<right_rear>right_rear</right_rear>
<left_front>left_front</left_front>
<left_rear>left_rear</left_rear>
<MaxForce>5.0</MaxForce>
</plugin>
<include>
<uri>model://hokuyo</uri>
<pose>0.2 0 0.13 0 0 0</pose>
</include>
<joint name="hokuyo_joint" type="revolute">
<child>hokuyo::link</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<upper>0</upper>
<lower>0</lower>
</limit>
</axis>
</joint>
</model>
<state world_name='default'>
<sim_time>27 134000000</sim_time>
<real_time>27 370388952</real_time>
<wall_time>1438933383 311101406</wall_time>
<iterations>27134</iterations>
<model name='ground_plane'>
<pose>0 0 0 0 -0 0</pose>
<link name='link'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='pioneer3at'>
<pose>-0.000354 -0.000103 0.170004 -1e-06 6e-06 -0.000748</pose>
<link name='chassis'>
<pose>-0.000354 -0.000103 0.170004 -1e-06 6e-06 -0.000748</pose>
<velocity>0.000528 0.000796 0.000249 -0.00497 0.00783 0.000416</velocity>
<acceleration>-0.419274 0.454706 -3.80617 -1.72711 0.428094 0.225245</acceleration>
<wrench>-5.86984 6.36589 -53.2863 0 -0 0</wrench>
</link>
<link name='left_front_wheel'>
<pose>0.124795 0.200804 0.110003 1.5707 0.027489 -0.000748</pose>
<velocity>3.7e-05 0.000572 -0.001646 -0.004912 0.002412 0.000428</velocity>
<acceleration>0.218188 0.420846 -2.5353 -1.49692 0.001119 0.286036</acceleration>
<wrench>0.218188 0.420846 -2.5353 0 -0 0</wrench>
</link>
<link name='left_rear_wheel'>
<pose>-0.125204 0.200991 0.110004 1.5707 -0.030696 -0.000748</pose>
<velocity>-0.000275 0.000536 0.000402 -0.00489 -0.002687 0.000463</velocity>
<acceleration>0.078954 0.135217 -4.61132 -1.21183 0.592941 0.289585</acceleration>
<wrench>0.078954 0.135217 -4.61132 0 -0 0</wrench>
</link>
<link name='right_front_wheel'>
<pose>0.124495 -0.201196 0.110004 1.5707 0.025263 -0.000748</pose>
<velocity>0.000102 0.000544 0.000245 -0.004954 0.000785 0.000419</velocity>
<acceleration>0.012331 0.18455 -1.76089 -1.65377 -0.007056 0.237837</acceleration>
<wrench>0.012331 0.18455 -1.76089 0 -0 0</wrench>
</link>
<link name='right_rear_wheel'>
<pose>-0.125505 -0.201009 0.110006 1.5707 -0.021331 -0.000748</pose>
<velocity>0.000119 0.000348 0.002027 -0.004898 -0.001301 0.000435</velocity>
<acceleration>0.259113 -0.053877 -6.12619 -1.20049 0.000897 0.320187</acceleration>
<wrench>0.259113 -0.053877 -6.12619 0 -0 0</wrench>
</link>
</model>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>5 -5 2 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
Asked by osmancns on 2015-08-07 03:58:26 UTC
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