Enabling Husky Velodyne VLP16 in order to simulate point cloud using ROS Kinetic

asked 2018-12-13 19:14:00 -0500

JAWDAY gravatar image

Hi, I'm looking to simulate a 3D LIDAR sensor on a ground vehicle, preferably using the Husky UGV. I'd like to be able to drive the Husky around in Gazebo and collect data in a rosbag as if I were driving a Husky in real life (or as best that a simulation can do).

I'm using Ubuntu 16.04 and ROS Kinetic (roscpp version 1.12.14)

Looking at this page http://wiki.ros.org/husky_bringup/Tut... , it appears there is a Velodyne VLP16 that can be enabled with the Dual UR5 setup, using environment variables.

I've tried running the following commands and then launching the Husky in Gazebo, but it doesn't launch with a LIDAR (or seem to make any difference).

export HUSKY_LASER_ENABLED=false
export HUSKY_DUAL_UR5_ENABLED=true
export VELODYNE_VLP16_ENABLED=true
roslaunch husky_gazebo husky_playpen.launch

I also put the previous export commands in the /etc/ros/setup.bash file, but it didn't work either.

I've also been looking at modifying the Husky URDF, but it seems somewhat complicated and I couldn't find any Kinetic specific tutorials.

In summary, could anyone who understands environment variables, Husky, and/or URDFs please help me in modifying my simulation Husky to use a 3D LIDAR? Thanks!

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