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Problem generating VLP-16 data in Gazebo

asked 2020-12-19 15:31:14 -0600

dpb gravatar image

updated 2020-12-23 16:07:42 -0600

Can't get VLP-16 data to show in gazebo. Using ROS melodic on Ubuntu 18.04.

Installed: ros-melodic-velodyne ros-melodic-velodyne-description ros-melodic-velodyne-driver ros-melodic-velodyne-gazebo-plugins ros-melodic-velodyne-msgs ros-melodic-velodyne-pointcloud ros-melodic-velodyne-simulator

Followed instructions on http://wiki.ros.org/velodyne/Tutorial...

The mesh for the lidar shows up on the robot. The output of rosnode list is:

/bluetooth_teleop/joy_node
/bluetooth_teleop/teleop_twist_joy
/controller_spawner
/ekf_localization
/gazebo
/gazebo_gui
/robot_state_publisher
/rosout
/rviz
/twist_marker_server
/twist_mux
/velodyne_nodelet_manager
/velodyne_nodelet_manager_driver
/velodyne_nodelet_manager_laserscan
/velodyne_nodelet_manager_transform

The output of rostopic echo /velodyne_point is:

WARNING: no messages received and simulated time is active.
Is /clock being published?

There is no lidar data showing in rviz.

The output of

roslaunch velodyne_pointcloud VLP16_points.launch

is

... logging to /home/robot/.ros/log/2c578dbe-4567-11eb-b4a8-000c29e49531/roslaunch-RobotlabUbuntu18-88746.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://RobotlabUbuntu18:33553/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /velodyne_nodelet_manager_driver/cut_angle: -0.01
 * /velodyne_nodelet_manager_driver/device_ip: 
 * /velodyne_nodelet_manager_driver/frame_id: velodyne
 * /velodyne_nodelet_manager_driver/gps_time: False
 * /velodyne_nodelet_manager_driver/model: VLP16
 * /velodyne_nodelet_manager_driver/pcap: 
 * /velodyne_nodelet_manager_driver/port: 2368
 * /velodyne_nodelet_manager_driver/read_fast: False
 * /velodyne_nodelet_manager_driver/read_once: False
 * /velodyne_nodelet_manager_driver/repeat_delay: 0.0
 * /velodyne_nodelet_manager_driver/rpm: 600.0
 * /velodyne_nodelet_manager_driver/timestamp_first_packet: False
 * /velodyne_nodelet_manager_laserscan/resolution: 0.007
 * /velodyne_nodelet_manager_laserscan/ring: -1
 * /velodyne_nodelet_manager_transform/calibration: /home/robot/jacka...
 * /velodyne_nodelet_manager_transform/fixed_frame: 
 * /velodyne_nodelet_manager_transform/max_range: 130.0
 * /velodyne_nodelet_manager_transform/min_range: 0.4
 * /velodyne_nodelet_manager_transform/model: VLP16
 * /velodyne_nodelet_manager_transform/organize_cloud: False
 * /velodyne_nodelet_manager_transform/target_frame: 

NODES
  /
    velodyne_nodelet_manager (nodelet/nodelet)
    velodyne_nodelet_manager_driver (nodelet/nodelet)
    velodyne_nodelet_manager_laserscan (nodelet/nodelet)
    velodyne_nodelet_manager_transform (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[velodyne_nodelet_manager-1]: started with pid [88761]
process[velodyne_nodelet_manager_driver-2]: started with pid [88762]
process[velodyne_nodelet_manager_transform-3]: started with pid [88763]
process[velodyne_nodelet_manager_laserscan-4]: started with pid [88764]
[ INFO] [1608759557.434886452]: Initializing nodelet with 1 worker threads.
[ INFO] [1608759557.576518658]: Velodyne VLP-16 rotating at 600 RPM
[ INFO] [1608759557.576796066]: publishing 76 packets per scan
[ INFO] [1608759557.580556113]: Cut at specific angle feature deactivated.
[ INFO] [1608759557.597576540]: Reconfigure Request
[ INFO] [1608759557.602643002]: expected frequency: 9.921 (Hz)
[ INFO] [1608759557.607968518]: Opening UDP socket: port 2368
0.000 2.304 4.608 6.912 9.216 11.520 13.824 16.128 18.432 20.736 23.040 25.344 27.648 29.952 32.256 34.560 55.296 57.600 59.904 62.208 64.512 66.816 69.120 71.424 73.728 76.032 78.336 80.640 82.944 85.248 87.552 89.856 
110.592 112.896 115.200 117.504 119.808 122.112 124.416 126.720 129.024 131.328 133.632 135.936 138.240 140.544 142.848 145.152 165.888 168.192 170.496 172.800 175.104 177.408 179.712 182.016 184.320 186.624 188.928 191.232 193.536 195.840 198.144 200.448 
221.184 223.488 225.792 228.096 230.400 232.704 235.008 237.312 239.616 241.920 244.224 246.528 248.832 251.136 253.440 255.744 276.480 278.784 281.088 283.392 285.696 288.000 290.304 292.608 294.912 297.216 299.520 301.824 304.128 306 ...
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answered 2020-12-21 14:58:59 -0600

danambrosio gravatar image

If you are trying to simulate a VLP-16 using the gazebo simulator you should use a gazebo plugin. I have had success with the velodyne_gazebo_plugins package. The example.launch file included in the velodyne_description package should be a good starting spot.

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I did install ros-melodic-velodyne-gazebo-plugins initially. In /opt/ros/melodic/lib there appear: libgazebo_ros_velodyne_gpu_laser.so and libgazebo_ros_velodyne_laser.so. Are these the right files?

dpb gravatar image dpb  ( 2020-12-23 14:00:57 -0600 )edit

I also successfully implemented it. Also, can you set you $gpu=true and check it?

Spartan_007 gravatar image Spartan_007  ( 2020-12-29 23:49:41 -0600 )edit

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Asked: 2020-12-19 15:31:14 -0600

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Last updated: Dec 23 '20