Ground plain is not visible, while using block_laser GAZEBO plugin [closed]

asked 2012-11-08 04:54:09 -0500

dmeltz gravatar image

updated 2012-11-24 00:53:45 -0500

Hello all.

I trying to include in my car simulation a velodyn sensor. For this purpose i added to my car URDF model the "" plugin :

  <joint name="BLOCK_LIDAR_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.5 0 0.5"/>
    <parent link="base_link"/>
    <child link="BLOCK_LIDAR_link"/>
  <link name="BLOCK_LIDAR_link">
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
        <box size="0.1 0.1 0.1"/>
      <material name="green"/>    
      <origin rpy="0 0 0" xyz="0 0 0"/>
        <box size="0.01 0.01 0.01"/>

 <gazebo reference="BLOCK_LIDAR_link">
    <sensor:ray name="dany_car_BLOCK_LIDAR_sensor">

          <origin>0.0 0.0 0.0</origin>

          <maxAngle> 90</maxAngle>



          <controller:gazebo_ros_block_laser name="dany_car_LIDAR_BLOCK_controller" plugin="">
            <interface:laser name="dany_car_BLOCK_LIDAR_iface" />

Everything seems to work fine, the URDF model is spawned in GAZEBO with no errors and the point cloud topic is advertise.

But still when i visualize the PointCloud in Rviz it's missing the points that belong to the ground plain. Instead i get weird points that appears beneath the ground plain directly beneath the existing objects.

Beneath are print-screens of GAZEBO and RVIZ. the little blue rectangle in the middle is my car robot, the LIDAR sensor is directed to the left (towards the big blue wall).


image description


image description

the red points are actually not existing and has negative Z values

Maybe someone can help me with that, thanks.

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: by tfoote
close date 2015-06-29 02:18:16.692310