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Is it possible to run turtlebot3's lidar in Gazebo? I keep on getting an error

asked 2019-04-02 00:31:16 -0500

Kilanga Monga gravatar image

updated 2019-04-02 18:37:28 -0500

jayess gravatar image

I am trying to use the lidar of my turtlebot3 in gazebo, but every time I run

roslaunch hls_lfcd_lds_driver hlds_laser.launch

I get the error below

... logging to /home/dkilanga/.ros/log/9329d066-5503-11e9-8f79-9cb6d012cf75/roslaunch-dmk-19763.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server


 * /hlds_laser_publisher/frame_id: laser
 * /hlds_laser_publisher/port: /dev/ttyUSB0
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

    hlds_laser_publisher (hls_lfcd_lds_driver/hlds_laser_publisher)


process[hlds_laser_publisher-1]: started with pid [19780]
[ERROR] [1554181467.060425086]: An exception was thrown: open: No such file or directory
[hlds_laser_publisher-1] process has died [pid 19780, exit code 255, cmd /home/dkilanga/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=hlds_laser_publisher __log:=/home/dkilanga/.ros/log/9329d066-5503-11e9-8f79-9cb6d012cf75/hlds_laser_publisher-1.log].
log file: /home/dkilanga/.ros/log/9329d066-5503-11e9-8f79-9cb6d012cf75/hlds_laser_publisher-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete


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1 Answer

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answered 2019-04-02 02:35:28 -0500

gvdhoorn gravatar image

Are you trying to use the hls_lfcd_lds_driver with a lidar simulated by Gazebo?

If so: that won't work. Gazebo does not simulate the hardware at that level.

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Is there something else I can use in place of hls_lfcd_driver in Gazebo?

Kilanga Monga gravatar image Kilanga Monga  ( 2019-04-02 10:55:10 -0500 )edit

Gazebo uses plugins to publish data from simulated sensors to ROS.

So any lidar plugin in Gazebo could be used as a stand-in for a physical one.

However, from this page I have the impression that the TB3 simulation already comes with a lidar. I don't own one myself, so I don't know how things are configured or whether that's usable with ROS.

I would suggest to contact ROBOTIS and ask them.

gvdhoorn gravatar image gvdhoorn  ( 2019-04-02 11:26:35 -0500 )edit

Never mind, I am just realizing that in simulation, I don't need to do anything in order for the lidar to work. I just have to subscribe to the topic.

Kilanga Monga gravatar image Kilanga Monga  ( 2019-04-02 11:37:23 -0500 )edit

@KilangaMonga, could you please tell me which topic publishes the lidar data points for the turtlebot3 waffle pi?

EDIT: Found the topic. It is called /scan.

rx gravatar image rx  ( 2020-03-20 21:39:41 -0500 )edit

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Asked: 2019-04-02 00:31:16 -0500

Seen: 676 times

Last updated: Apr 02 '19