Closed Jaroan closed 3 years ago
@Jaroan You should check what is happening in https://github.com/PX4/PX4-Autopilot/blob/fd18ba649678a8aa5f1b871b2f6b3d770c1d87d3/launch/single_vehicle_spawn_sdf.launch#L23
@Jaeyoung-Lim I customized the model name in the SDF file as
<model name='typhoon_h480_0'>
And added the same to the lidar model inclusion in my sdf file
<include>
<uri>model://rplidar</uri>
<pose>0.00 0 -0.05 0 0 0</pose>
<name>lidar0</name>
</include>
<joint name="lidar_joint0" type="fixed">
<child>lidar0::link</child>
<parent>typhoon_h480_0::base_link</parent>
</joint>
This enabled both UAVs to have a functional lidar! I am guessing the appropriate namespace to be provided for all models helped solve this.
I have been trying to install LIDARS on two Multirotor Models based on this link of Iris Obstacle Avoidance SDF file
The launch file used was PX4-Autopilot/launch/multi_uav_mavros_sitl_sdf.launch
However, the lidar only appeared on one of the spawned UAVs as shown in the image below. The command rostopic list gave the following details of the topics for the lidars.
While rostopic echo /typhoon_h480_1/laser/scan provided the following readings of the obstacle:
The command rostopic echo /typhoon_h480_0/laser/scan provided no change in values
What could be the problem that made UAV1 have a laser reading but not UAV0? Any help will be appreciated! Thank you!