LaserScan-Topic just shows INF using Gazebo

[ProfJust]

When I start the Gazebo Simulation (like supposed in the ReadMe-File) using

$ roslaunch summit_xl_sim_bringup summit_xl_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true localization_robot_a:=true

the LaserScanners (front and rear) just show-inf. So the navigation does not work.

$ rostopic echo /robot/front_laser/scan

header: 
  seq: 16281
  stamp: 
    secs: 316
    nsecs: 328000000
  frame_id: "robot_front_laser_link"
angle_min: -2.35619997978
angle_max: 2.35619997978
angle_increment: 0.00436333334073
time_increment: 0.0
scan_time: 0.0
range_min: 0.0599999986589
range_max: 10.0
ranges: [-inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, 

The Gazebo-Summit is not moved and should see the walls within 4..5m. Nothing is edited in the clone of this repository using ROS-melodic with Gazebo 9.

Do I just have to reconfigure something? Is this a Gazebo-Problem? Do I have to use ROS-Kinetic? Any help would be appreciated.

[ProfJust]

The GPU seems to be the problem: Workaround: Change the Gazebo-plugin from gpu to normal

=> change file catkin_ws/src/robotnik_sensors/urdf/hokuyo_ust10lx.urdf.xacro

Line 53     <sensor type="ray" name="${prefix}_sensor">

Line 80:    <plugin name="${prefix}_controller" filename="libgazebo_ros_laser.so">

[RomanRobotnik]

Hi,

This is probably due to the fact that the default gazebo laser plugin we are using is "libgazebo_ros_gpu_laser.so". If you computer does not have a gpu the laser does not work properly and publishes "inf".

The laser used by default is the sick_s300

We'll add an argument to let choose whether using or not "gpu".

In the meantime you can replace it in the sensor urdf:

• Replace <sensor type="gpu_ray" ... by "ray"
• Replace by "libgazebo_ros_laser.so"

Regards,

[ProfJust]

This has solved my problem. Probably I should buy a GPU. Thank you very much.