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Sensor publish a pointcloud2 msg to ROS

asked 2017-01-27 04:18:00 -0600

farhatm gravatar image

Hey,

is there any 3D LiDAR sensors in Gazebo which publish a pointcloud2 msg to ROS?

thx a lot

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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.

gvdhoorn gravatar image gvdhoorn  ( 2017-01-27 05:55:17 -0600 )edit

Yes i know. I asked the same question in Gazebosim forum. but maybe someone has any idea here.

farhatm gravatar image farhatm  ( 2017-01-27 07:21:10 -0600 )edit

Hm. cross-posting is not really nice.

Could you at least post the link to your GazeboSim Answers question?

gvdhoorn gravatar image gvdhoorn  ( 2017-01-27 07:42:59 -0600 )edit

you can use "Block Laser" plugin, but last time I used it it was pretty resource hungry. http://lmgtfy.com/?q=3d+lidar+gazebo

jodafo gravatar image jodafo  ( 2017-01-27 08:02:33 -0600 )edit
Rufus gravatar image Rufus  ( 2020-10-19 20:38:10 -0600 )edit

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answered 2020-10-19 20:37:24 -0600

Rufus gravatar image

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

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Asked: 2017-01-27 04:18:00 -0600

Seen: 307 times

Last updated: Oct 19