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RobotnikAutomation / rbkairos_sim

RB-Kairos ROS simulation packages
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/robot/front_laser/scan and /robot/rear_laser/scan publish no data #10

Closed scploeger closed 2 years ago

scploeger commented 2 years ago

Hi, By following instructions in the Readme, I am able to launch the sim, and everything looks okay. A gazebo and RViz window launch as expected. However, the lidar does not produce a laser scan. When echoing the /robot/front_laser/scan and /robot/rear_laser/scan topics, the following is returned WARNING: no messages received and simulated time is active. Is /clock being published?

The laser shows up in the Gazebo sim, and the topics show up in the RViz "Displays" box, but no data comes up under the topics.

Any help to figure out why the lasers publish no data would be much appreciated! Thank you

Spencer

alex-arnal commented 2 years ago

Hi, Spencer

It is possible that the problem is due to something related to the laser gazebo plugin that uses the GPU drivers. I understand you are using ROS Melodic. Could you tell me the version of Gazebo you are using?

On the one hand, you could try installing the Gazebo plugins and try again launching the simulation, just in case you don't have them installed (this is probably not the problem).

sudo apt-get install ros-melodic-gazebo-plugins

On the other hand, I have updated the simulation to select to use or not the Gazebo GPU plugin for the lasers by argument. If you download the simulation again following the README, you should have the latest changes. Once you have updated the simulation you just need to launch it using the argument use_gpu:=false

roslaunch rbkairos_sim_bringup rbkairos_complete.launch use_gpu:=true

Let me know when you try it. I hope it works Álex

scploeger commented 2 years ago

Hi Alex, thanks. I reinstalled the plugins and everything is working well now. Thanks for the advice.