How display scan on rviz with sdf file?

asked 2020-03-28 13:30:23 -0600

Nico_B gravatar image

updated 2021-04-24 02:44:29 -0600

miura gravatar image

Good morning,

I ran a simulation of a hecacopter with a gazebo. I have an sdf file of my drone with a 3D lidar. I send the data of my lidar on the topic /scan, and I want to visualize it on rviz. I saw that I had to make an urdf file of my drone, but I can't make the conversion. (and the sdf file is quite big) Is there another way to display the data without having to do the conversion? Thank you

I use unbuntu 18.04, Gazebo9, Ros Melodic

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Hi @Nico_B,

I think there is no need to change your SDF file. The only thing you need is to publish the scan data over ROS with the proper LaserScann msg type. Another different problem would be to visualize the robot, in that case you will need the description as an URDF in order to read from the robot_description parameter.

Weasfas gravatar image Weasfas  ( 2020-04-04 11:47:33 -0600 )edit