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Sensor publish a pointcloud2 msg to ROS

Hey,

is there any 3D LiDAR sensors in Gazebo which publish a pointcloud2 msg to ROS?

thx a lot

Asked by farhatm on 2017-01-27 05:18:00 UTC

Comments

This is probably more a Gazebo question (and thus more suited for answers.gazebosim.org), but let's see whether someone here has a suggestion.

Asked by gvdhoorn on 2017-01-27 06:55:17 UTC

Yes i know. I asked the same question in Gazebosim forum. but maybe someone has any idea here.

Asked by farhatm on 2017-01-27 08:21:10 UTC

Hm. cross-posting is not really nice.

Could you at least post the link to your GazeboSim Answers question?

Asked by gvdhoorn on 2017-01-27 08:42:59 UTC

you can use "Block Laser" plugin, but last time I used it it was pretty resource hungry. http://lmgtfy.com/?q=3d+lidar+gazebo

Asked by jodafo on 2017-01-27 09:02:33 UTC

Answers

You can consider velodyne's implementation which extends the default gazebo_ros_block_laser to publish PointCloud2

Just run

sudo apt install ros-melodic-velodyne-gazebo-plugins

and replace, in your model.sdf, libgazebo_ros_block_laser.so with libgazebo_ros_velodyne_laser.so

Asked by Rufus on 2020-10-19 20:37:24 UTC

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