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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Question]: Trouble with rpLidar Node in a Gazebo simulation #13

Closed Federico-Maresca closed 2 years ago

Federico-Maresca commented 2 years ago

Question

Hi! I am trying to use the interbotix gazebo package together with the interbotix_nav package to run SLAM however the rpLidar node keeps crashing and rviz can't seem to receive any sensor data. Is there a guide or tutorial that runs through how this would be possible? If not how come?

Robot Model

locobot_wx250s

Operating System

Ubuntu 20.04

Anything Else

No response

lukeschmitt-tr commented 2 years ago

Hi @Federico-Maresca. That would be because we apparently never put a lidar plugin in the Gazebo configs. I went ahead and added the lidar along with a few other changes. You should be able to pull the changes to your local interbotix_ros_rovers repo.

I also added the xslocobot_nav_sim launch file that should instruct you how to properly launch the navigation package in Gazebo. To launch it with your setup, use the command below:

roslaunch interbotix_xslocobot_nav xslocobot_nav_sim.launch robot_model:=locobot_wx250s dof:=6 use_lidar:=true

Let me know if you run into any difficulties.

Federico-Maresca commented 2 years ago

Thank you for the quick reply, the issue has been solved !