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ok, so apparently the problems were:

 <!-- Hokuyo Laser -->
 <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

Here I used <link name="lidar"> which doesn't match the one expected from Gazebo. Further more on the same <link>, I defined the <inertial> and <visual> part which was also not expected. Only the <collision> should be present.

Finally also the <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so"> could be a problem since i think Gazebo expects <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller"> but I not 100% sure about that.

ok, so apparently the problems were:

 <!-- Hokuyo Laser -->
 <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

Here I used <link name="lidar"> which doesn't match the one expected from Gazebo. Further more on the same <link>, <link>, I defined the <inertial> and <visual> part which was also not expected. Only the <collision> should be present.

Finally also the <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so"> could be a problem since i think Gazebo expects <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller"> but I not 100% sure about that.

ok, so apparently the problems were:

 <!-- Hokuyo Laser -->
 <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

Here I used <link name="lidar"> which doesn't match the one expected from Gazebo. Further more on the same <link>, I defined the <inertial> and <visual> part which was also not expected. Only the <collision> should be present.

Finally also the <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so"> could be a problem since i think Gazebo expects <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller"> but I not 100% sure about that.

ok, so apparently the problems were:

<plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so">

I cannot use the gpu version for some reason... The correct (that worked for me) was:

<plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so">

Next:

 <!-- Hokuyo Laser -->
 <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

Here I used <link name="lidar"> which doesn't match the one expected from Gazebo. Further more on the same <link>, I defined the <inertial> and <visual> part which was also not expected. Only the <collision> should be present.

Finally also the <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so"> could be a problem since i think Gazebo expects <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller"> but not 100% sure about that.

ok, so apparently the problems were:

<plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so">

I cannot use the gpu version for some reason... The correct (that worked for me) was:

<plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so">
filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">

Next:

 <!-- Hokuyo Laser -->
 <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

Here I used <link name="lidar"> which doesn't match the one expected from Gazebo. Further more on the same <link>, I defined the <inertial> and <visual> part which was also not expected. Only the <collision> should be present.

Finally also the <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so"> could be a problem since i think Gazebo expects <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller"> but not 100% sure about that.

ok, so apparently the problems were:

<plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so">

I cannot use the gpu version for some reason... The correct (that worked for me) was:

<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">

Next:

 <!-- Hokuyo Laser -->
 <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

Here I used <link name="lidar"> which doesn't match the one expected from Gazebo. <gazebo reference="hokuyo_link">. Further more on the same <link>, I defined the <inertial> and <visual> part which was also not expected. Only the <collision> should be present.

Finally also the <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so"> could be a problem since i think Gazebo expects <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller"> but not 100% sure about that.