Sonar on Pioneer 3-AT

asked 2016-08-01 02:45:12 -0600

eed gravatar image

I have to simulate the Pioneer3-AT. Therefor I got a model in gazebo. It lookes very fine. But in the model there ist only the visual of the front and back sonar. I need them to publish the messages. So I tried to use a gazebo plugin:

<gazebo reference="front_sonar_box2">
<sensor type="ray" name="front_sonar_box2">
<pose>0 0 0 0 0 0</pose>
<update_rate>40</update_rate>     <!--update rate-->                  
        <samples>30</samples>               <!--ray -->
        <min_angle>-0.131</min_angle>       <!-- -${field_of_view/2} -->
        <max_angle>0.131</max_angle>        <!-- -${field_of_view/2} -->        

<plugin name="gazebo_ros_front_sonar_controller" filename="">

But in use there is no topic named /pioneer/sonar/scan2 and I can't see it in Rviz. Have anybody an idea why this doesn't work? Thanks in advance!

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I now use a different sensor. 'sonar_sensor.urdf.xacro' And it workes well. Now I have the problem, that the robot has 16 of these Sensors. And for now they are all publishing on there Own topic. How can I mix these Informations to a pointcloud. As I get from the real robot?

eed gravatar image eed  ( 2016-08-03 06:15:27 -0600 )edit

I have the first problem too. I use a sonar sensor and there is no topic published in the rostopic list. How did you solve it? Thank you

moshimojo gravatar image moshimojo  ( 2017-11-24 14:03:35 -0600 )edit