Currently, the plugin requires specifying both the SDF labels <topic> and <frame>. If these labels are not provided, the plugin logs the following error messages:
[Err] [Lidar.cc:51] No 'topic' parameter specified for the RGL lidar. Disabling plugin.
[Err] [Lidar.cc:56] No 'frame' parameter specified for the RGL lidar. Disabling plugin.
In Gazebo Ignition, these labels correspond to <ignition_frame_id> and <topic>. If they are omitted from the SDF file, Gazebo automatically assigns them as /<world_name>/model/<link_1>/<link_2>/.... For instance, using the gpu_lidar plugin without specifying these labels results in:
Hi @LihanChen2004, thank you for your analysis! This sounds reasonable and will in fact simplify the process - I see no downsides. We will be grateful if you will address this issue.
Feature Request
Currently, the plugin requires specifying both the SDF labels
<topic>
and<frame>
. If these labels are not provided, the plugin logs the following error messages:In Gazebo Ignition, these labels correspond to
<ignition_frame_id>
and<topic>
. If they are omitted from the SDF file, Gazebo automatically assigns them as/<world_name>/model/<link_1>/<link_2>/...
. For instance, using the gpu_lidar plugin without specifying these labels results in:This automatic namespace assignment is crucial for multi-robot simulations, as it simplifies the configuration process.
I am willing to address this issue. Please let me know your thoughts.