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
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
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
Related: https://answers.gazebosim.org/question/23928/block-laser-plugin-for-pointcloud2/?answer=25978#post-id-25978
Asked by Rufus on 2020-10-19 20:38:10 UTC