Laser frame for robot simulation

asked 2017-09-13 20:37:27 -0600

ryanyoon gravatar image

updated 2017-09-14 12:36:53 -0600

Hi, I am simulating two husky robots in ros. When I run the simulation, the others parts work well but somehow my Laser scan uses base_laser frame instead of something like tf_prefix/base_laser frame. I know I can get data from base_laser by adding static_transform_publisher between base_laser and tf_prefix/base_laser frame but if I do so, since Im linking with both robots, the tf will switch between two and would not work as intended.

I was trying to solve this problem by adding laser plugin to my urdf file but somehow I get a error message

Error [Model.cc:745] Model[Husky_h1] is attempting to load a plugin, but detected an incorrect plugin type. Plugin filename[libgazebo_ros_laser.so] name[laser_controller] Segmentation fault (core dumped)

Do anyone have experience with this issue? Thanks

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Comments

If you're using Gazebo, you may have a better chance of getting answers at http://answers.gazebosim.org/questions/

jayess gravatar image jayess  ( 2017-09-14 14:16:37 -0600 )edit

Thank you Jayess

ryanyoon gravatar image ryanyoon  ( 2017-09-14 21:38:13 -0600 )edit

just in general how do I change the frame of which Laser Scan uses? Does anyone no how to do it?

ryanyoon gravatar image ryanyoon  ( 2017-09-15 12:42:59 -0600 )edit