cant visualize gpu ray in rviz

asked 2017-01-05 04:56:30 -0500

dinesh gravatar image

updated 2017-01-05 05:32:17 -0500

When i try to use the gpu ray sensor in my velodyne model urdf file, it is not publishing any topic. When i put the same line of code for sensor in another urdf file of another robot it works fine and i can also visualize the topic in rviz, but i cant use the same sensor in below urdf file, what is the problem can anyone once check it. Here when i launch it in gazebo i can clearly see the blue laser coming out from the model. <robot name="laser">

<link name="base">

<visual>
  <origin rpy="0 0 0" xyz="0 0 0.017335"/>
  <geometry>
    <mesh filename="package://myrobot1_description/meshes/velodyne_base.dae"/>
  </geometry>
</visual>

<collision>
  <origin rpy="0 0 0" xyz="0 0 0.029335"/>
  <geometry>
    <mesh filename="package://myrobot1_description/meshes/velodyne_base.dae"/>
  </geometry>
</collision>

<inertial>
  <origin rpy="0 0 0" xyz="0 0 0.029335"/>
  <mass value="0.5"/>
  <inertia ixx="0.000090623" ixy="0.0" ixz="0.0" iyy="0.000090623" iyz="0.0" izz="0.000091036"/>
</inertial>

</link>

<link name="top"> <origin rpy="0 0 0" xyz="0 0 0.085455"/>

<visual>
  <geometry>
    <mesh filename="package://myrobot1_description/meshes/velodyne_top.dae"/>
  </geometry>
</visual>

<collision>
  <geometry>
    <mesh filename="package://myrobot1_description/meshes/velodyne_top.dae"/>
  </geometry>
</collision>

<inertial>
  <mass value="0.5"/>
  <inertia ixx="0.000090623" ixy="0.0" ixz="0.0" iyy="0.000090623" iyz="0.0" izz="0.000091036"/>
</inertial>

</link>

  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.077"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-10000000000000000" upper="10000000000000000" velocity="0.5"/>
    <parent link="base"/>
    <child link="top"/>
  </joint>

  <gazebo reference="top">
    <sensor type="gpu_ray" name="head_hokuyo_sensor">
      <pose>0 0 0.025 1.5707 0 0</pose>
      <visualize>true</visualize>
      <update_rate>30</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>30</samples>
            <resolution>0.01</resolution>
            <min_angle>-0.174</min_angle>
            <max_angle>0.173</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.001</min>
          <max>100</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
        <topicName>/velodyne/laser/scan</topicName>
        <frameName>camera_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

</robot>

And confusing thing is that when i run rostopic list i cant see the topic /velodyne/laser/scan but when i run the command rostopic echo /velodyne/laser/scan i can see the information, like header, range distance etc. but when i launch rviz and put the fixed fram as camera frame than laser topic as /velodyne/laser/scan i can see nothing.

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