How to use sensor pose ?
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?
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.Finally, I added one more frame. Just curious, why it does not works here, thanks.