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How to put Hokuyo laser sensor on p2os?

asked 2012-09-27 10:14:38 -0600

Mendelson gravatar image

updated 2014-01-28 17:13:46 -0600

ngrennan gravatar image

I'm new at gazebo, and I would like to know how to put a hokuyo sensor on my p2os model. I am not using a real robot, I just want to know how to add a sensor on my simulation. Thanks!

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Are you using P2OS or are you using ROSARIA?

allenh1 gravatar imageallenh1 ( 2015-07-07 19:46:00 -0600 )edit

4 Answers

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answered 2012-09-29 04:50:28 -0600

Peter Listov gravatar image

Or just create a laser link and add something similar to this:

  <link name="laser_scan_link" type="laser"> 
 <inertial> 
      <mass value="0.5" /> 
      <origin xyz="0 0 0" /> 
      <inertia ixx="0.3"  ixy="0.3"  ixz="0.3" iyy="0.3"  iyz="0.3"  izz="0.3" /> 
     </inertial> 
     <visual> 
       <origin xyz="0 0 0" rpy="0 0 0"/> 
       <geometry> 
         <cylinder length="0.1" radius="0.05" /> 
       </geometry> 
     </visual> 
     <collision> 
      <origin xyz="0 0 0" rpy="0 0 0"/> 
       <geometry> 
         <cylinder length="0.1" radius="0.05" /> 
       </geometry> 
     </collision> 
  </link> 

<joint name="laser_to_base_link" type="fixed"> 
  <origin xyz="0.25 0 0.32" rpy="0 0 0" /> 
  <parent link="base_link" /> 
  <child link="laser_scan_link"/> 
</joint> 

   <gazebo reference="laser_scan_link"> 
  <sensor:ray name="laser_scan_link"> 
     <rayCount>683</rayCount> 
     <rangeCount>683</rangeCount> 
     <laserCount>1</laserCount> 

         <origin>0.0 0.0 0.0</origin> 
         <displayRays>true</displayRays> 

         <minAngle>-105</minAngle> 
         <maxAngle>105</maxAngle> 

         <minRange>0.06</minRange> 
         <maxRange>4.0</maxRange> 
         <resRange>0.01</resRange> 
         <updateRate>10.0</updateRate> 

         <controller:gazebo_ros_laser name="gazebo_ros_base_scan_link_controller" plugin="libgazebo_ros_laser.so"> 
                <gaussianNoise>0.005</gaussianNoise> 
                <alwaysOn>true</alwaysOn> 
                <updateRate>20.0</updateRate> 
                <topicName>base_scan/scan</topicName> 
                <frameName>laser_scan_link</frameName> 
                <interface:laser name="gazebo_ros_base_scan_link_iface"/> 
         </controller:gazebo_ros_laser> 
        </sensor:ray> 
    </gazebo> 


  <gazebo>
   <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
    </controller:gazebo_ros_controller_manager>
  </gazebo>
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@Peter Listov I got interested with this answer, can you give a suggestion into how to add a hokuyo laser to the turtlebot. I am new to ros. Can you tell me where do I have to put the code.

Vegeta gravatar imageVegeta ( 2012-10-18 18:33:56 -0600 )edit
3

answered 2012-09-27 13:17:01 -0600

dejanpan gravatar image

For this you will first need to understand how urdf works and John has written great tutorials for that http://ros.org/wiki/urdf/Tutorials (section 1 and 2). Then you will need to understand the Gazebo extensions for URDF (http://ros.org/wiki/urdf/Tutorials/UnderstandingPR2URDFGazeboExtension) and finally here is also an example of how to add the actual sensor: http://ros.org/wiki/urdf/Tutorials/AddingSensorsToPR2.

For the insertion of the hokuyo specifically you can check how it is being done for turtlebot: Sensor description: https://kforge.ros.org/turtlebot/turtlebot/file/fb8354a98ac5/turtlebot_description/urdf/gazebo.urdf.xacro (turtlebot_sim_laser) Sensor insertion into robot's urdf: https://kforge.ros.org/turtlebot/turtlebot/file/fb8354a98ac5/turtlebot_description/urdf/turtlebot_body.urdf.xacro (laser_joint)

Please also note that this shall probably be asked on http://answers.gazebosim.org/questions/.

D.

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answered 2012-10-02 07:54:48 -0600

Mendelson gravatar image

updated 2012-10-02 08:04:52 -0600

Thanks Peter Listov, it was really useful! But I still don't know how to use the Hokuyo, the visual model

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Do you mean, visaulization? Then you need to launch your model in RViz. What exactly do you want?

Peter Listov gravatar imagePeter Listov ( 2012-10-02 23:53:57 -0600 )edit

Yes, I just need a visual model. I want a sensor wich looks like the Hokuyo (just to make my model more beautiful). The sensor is already working, I just want the visual.

Mendelson gravatar imageMendelson ( 2012-10-29 08:56:19 -0600 )edit
0

answered 2015-06-27 08:19:40 -0600

130s gravatar image

updated 2015-06-27 19:51:50 -0600

@Peter Listov's answer worked for me except for gazebo tag that's based on older syntax. With later version of Gazebo (2.2.5 for me), you might want to refer to .

Update: Gazebo's tutorial linked above did not work for me (asked another question for that). I got it working with libgazebo_ros_laser.so (see the change I made with my package) instead of libgazebo_ros_gpu_laser.so. This blog was helpful.

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Asked: 2012-09-27 10:14:38 -0600

Seen: 2,289 times

Last updated: Jun 27 '15