Lidar isn't working correctly in Gazebo Fortress

Ekumen-OS / andino_gz

Andino Simulation using Gazebo simulator

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Lidar isn't working correctly in Gazebo Fortress #72

Closed francocipollone closed 3 months ago

francocipollone commented 3 months ago

Environment

OS Version: Ubuntu 22.04
Source

Description

Expected behavior: Lidar messages are correctly
Actual behavior: Getting inf in lidar messages in certain ocations.

Steps to reproduce

ros2 launch andino_gz andino_gz.launch.py world_name:=depot.sdf
`Add visualize lidar' GUI
Rotate or move the andino using teleop

You can see the wrong lectures using the GUI plugin or

checking the topic: ign topic -t /world/gazebo_world/model/andino/link/base_link/sensor/sensor_ray_front/scan -e
checking rviz's lidar visualization

Output

Screencast from 08-09-2024 02:53:33 PM.webm

francocipollone commented 3 months ago

It sounds like a bug in Fortress It is not happening in Gazebo Harmonic (I just saved the world and launch it with gz sim)

Screencast from 08-09-2024 03:13:02 PM.webm

francocipollone commented 3 months ago

Indeed: https://github.com/gazebosim/gz-sim/issues/1112

francocipollone commented 3 months ago

Tried using harmonic real quick, works good:

I just used the unofficial ros binaries ros-humble-gzharmonic (see https://gazebosim.org/docs/harmonic/ros_installation/#gazebo-harmonic-with-ros-2-humble-iron-or-rolling-use-with-caution) to install the ros_gz bridge for humble-harmonic

We need to migrate to harmonic, it is a pity we won't be able to release andino_gz for humble due to this non-ros provided dependency.

JesusSilvaUtrera commented 3 months ago

Regarding this is also necessary, it would make sense to begin by migrating the humble branch to Harmonic, right @francocipollone? And then begin with the Jazzy + Harmonic branch.

francocipollone commented 3 months ago

Regarding this is also necessary, it would make sense to begin by migrating the humble branch to Harmonic, right @francocipollone? And then begin with the Jazzy + Harmonic branch.

Correct!

francocipollone commented 3 months ago

Reopening as this issue was being caused by the visual meshes interfering with the lidars. In our case the lidar meshes shouldn't interfere with the lidar sensor, in order to do so we need the mesh to not have internal normals, as the lidar sensor does not have a clipping plane parameter or something like that.

In harmonic the behavior seems to be different and that's why in harmonic it was working correctly.

I'd like to support Humble-Fortress combination so I will evaluate how we can fix this.

francocipollone commented 3 months ago

Closed as resolved