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How to get laser data in gazebo?

asked 2016-10-26 05:40:51 -0500

xeeshan gravatar image

Hi everyone I have created my diff drive robot and also mounted laser on the robot using Hokuyo model. Now I need to move my robot from start position to the goal position. I can't understand how to do this. Please help I am beginner.

Thanks in advance

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How have you specified the start and goal position?

Rachit Khurana gravatar imageRachit Khurana ( 2016-10-26 15:54:28 -0500 )edit

Try https://www.clearpathrobotics.com/ass... . It is a husky tutorial which proves a nice way to move from start to goal.

Rachit Khurana gravatar imageRachit Khurana ( 2016-10-26 15:56:13 -0500 )edit

I have already followed this but helps nothing

xeeshan gravatar imagexeeshan ( 2016-10-27 05:29:07 -0500 )edit

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answered 2016-10-26 14:27:08 -0500

arttp2 gravatar image

Gazebo should automatically publish laser scan data. Use $ rostopic list to find the name of that topic.

The simplest way would be to publish your wheel velocity to /cmd_vel and by trial and error check if you have reached your goal.

If this is very inefficient for you then I would suggest you look at the ROS Navigation stack. Classify your problem according to the tools the stack offers.

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Thanks for answering my questions. This is already working using /cmd_vel and using teleop. Basically I want to move my robot between two fixed points set by me. before this how I can check that my laser is working? It's just showing blue light in the simulator.

xeeshan gravatar imagexeeshan ( 2016-10-27 05:14:59 -0500 )edit

Do you want your robot to move in straight line between start to goal? Probably not.

 $ rostopic list

This command will display the name of the topic where Gazebo is publishing laser scan data. Subscribe it in a node. Use it to guide your robot by giving appropriate /cmd_vel values.

arttp2 gravatar imagearttp2 ( 2016-10-27 20:07:04 -0500 )edit

If you are not able to achieve your targets this way, then read this: Navigation

It has a steep learning curve.

arttp2 gravatar imagearttp2 ( 2016-10-27 20:07:54 -0500 )edit

I have mounted laser on my diff drive robot using hokuyo model. But I am unable to find the laser scanner node. I have read various forums that suggest me to make URDF of my robot and then use necessary plugins after that I have to set the node in RVIZ. I am confused with RVIZ why should we use that

xeeshan gravatar imagexeeshan ( 2016-10-28 17:01:55 -0500 )edit

after all I am working in gazebo

xeeshan gravatar imagexeeshan ( 2016-10-28 17:02:30 -0500 )edit

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Asked: 2016-10-26 05:40:51 -0500

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Last updated: Oct 26 '16