How to use sensor pose ?

asked 2020-03-13 00:32:24 -0500

Krenshow
33 ●2 ●4 ●7

updated 2020-03-13 00:36:14 -0500

Hello, I have a problem with pose 0 0 0 0 0 0 pose. You can find it in turtlebot3_burger.gazebo.xacro. In particular, this code goes in the sensor description. For example (from turtlebot3_burger.gazebo.xacro):

  <gazebo reference="base_scan">
    <material>Gazebo/FlatBlack</material>
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg laser_visual)</visualize>
      <update_rate>5</update_rate>
      <ray>
        ***
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
        ***
      </plugin>
    </sensor>
  </gazebo>

As I understood, there are such parameters as XYZ and RPY. I found a couple of examples and it should be obvious. Example: https://answers.ros.org/question/2906...

However, when I change it, nothing happens, nothing at all... Ubuntu 16.04, ROS Kinetic. Anybody have an idea, what is the problem could be?

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Comments

I've seen the same thing with the libgazebo_ros_laser.so plugin. The plugin seems to ignore the sensor pose. If you need to change the pose of the sensor, I would recommend changing it's parent frame, or attaching it to a new frame that has the correct pose.