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gazebo radar plugin

asked 2018-12-10 00:21:06 -0500

gnykumar@gmail.com gravatar image

updated 2018-12-10 01:02:18 -0500

Hi, I am trying to add radar plugin to my bot in gazebo, for that i got modeCRadar plugin from https://github.com/ros-simulation/gaz... , and followed the reference of use from https://github.com/osrf/uctf/commit/7... . But not able to use it has if put sensor type="logical_camera" i get below error

Unpause physics service call failed: unable to connect to service: [Errno 104] Connection reset by peer Segmentation fault (core dumped)

If I put sensor type="radar" node is running without process died, but no data publishing.

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="radar">
<xacro:macro name="radar" params="prefix:=rad robot_namespace:=/">


    <link name="rad_link">
        <collision>
            <origin xyz="0.2 0 0.2" rpy="0 0 0"/>
            <geometry>
                <box size="0.05 0.05 0.05"/>
            </geometry>
        </collision>

        <visual>
            <origin xyz="0.2 0 0.2" rpy="0 0 0"/>
            <geometry>
                <box size="0.05 0.05 0.05"/>
                <material name="blue"/>
                <!-- <mesh filename="package://husky_description/meshes/accessories/dummy_camera.dae" /> -->
            </geometry>
        </visual>

        <inertial>
            <mass value="1e-5" />
            <origin xyz="0.2 0 0.2" rpy="0 0 0"/>
            <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
        </inertial>

    </link>
    <joint name="radar_joint" type="fixed">
        <axis xyz="0.2 0 0.2" />
        <origin xyz="0.2 0 0.2" rpy="0 0 0"/>
        <parent link="top_plate_link"/>
        <child link="rad_link"/>
    </joint>

    <gazebo reference="rad_link">
        <sensor name="radar" type="logical_camera">
            <visualize>true</visualize>
            <always_on>true</always_on>
            <update_rate>10</update_rate>
            <plugin name="mode_c_radar" filename="libModeCRadarPlugin.so">
                <robotNamespace>${robot_namespace}</robotNamespace>
                <radar_sensor_frameid>rad_link</radar_sensor_frameid>
                <radar_topic_ros>radar_topic</radar_topic_ros>
                <position_noise>
                    <noise>
                        <type>gaussian</type>
                        <mean>0.0</mean>
                        <stddev>0.001</stddev>
                    </noise>
                </position_noise>
                <known_model_types>
                    <type>husky</type>
                    <type>delta_wing</type>
                </known_model_types>
            </plugin>
        </sensor>
    </gazebo>
</xacro:macro>
 </robot>
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Comments

I am having the same issue, I am wondering if you reached any solution?

Karim Ahmt gravatar image Karim Ahmt  ( 2019-02-06 23:33:39 -0500 )edit

Still i didn't get the solution.

gnykumar@gmail.com gravatar image gnykumar@gmail.com  ( 2019-02-28 21:11:40 -0500 )edit

If you just state that it's not working I can't do much for you. Please provide enough information for some one to reproduce your problem. There are many reasons that there might not be content where you expect it for example if there are no models what would it see? Are they named right etc. The ability to reproduce and isolate the problem is important. http://sscce.org/

This is not an actively supported or released plugin it was created and used for a specific project. I don't have a lot of time to dig into this. If it's quick and I can take a look. But this question does not have enough information to help you know what isn't working because I don't even know what's running.

tfoote gravatar image tfoote  ( 2019-09-18 20:46:02 -0500 )edit

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answered 2019-12-21 21:23:44 -0500

shiveshkhaitan gravatar image

updated 2019-12-21 21:25:51 -0500

ModeCRadarPlugin is a model plugin while you are trying to load it as a sensor plugin. This should work.

<gazebo reference="rad_link">
    <sensor name="radar" type="logical_camera">
        <visualize>true</visualize>
        <always_on>true</always_on>
        <update_rate>10</update_rate>
    </sensor>
</gazebo>

<gazebo>
       <plugin name="mode_c_radar" filename="libModeCRadarPlugin.so">
            <robotNamespace></robotNamespace>
            <radar_sensor_frameid>rad_link</radar_sensor_frameid>
            <radar_topic_ros>radar_topic</radar_topic_ros>
            <position_noise>
                <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.001</stddev>
                </noise>
            </position_noise>
            <known_model_types>
                <type>husky</type>
                <type>delta_wing</type>
            </known_model_types>
        </plugin>
</gazebo>
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Asked: 2018-12-10 00:09:47 -0500

Seen: 708 times

Last updated: Dec 21 '19