Lidar data not visible in rviz

[vedthakur5]

I am using Carla: 0.9.9 Carla-ros -bridge: latest version and Ubuntu:18.04 Ros: meloldic

this my launch file code:

This is my sensors2.json file:

{ "sensors": [ { "type": "sensor.camera.rgb", "id": "front", "x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "width": 800, "height": 600, "fov": 100, "sensor_tick": 0.05, "gamma": 2.2, "shutter_speed": 60.0, "iso": 1200.0, "fstop": 1.4, "min_fstop": 1.2, "blade_count": 5, "exposure_mode": "manual", "exposure_compensation": 3.0, "exposure_min_bright": 0.1, "exposure_max_bright": 2.0, "exposure_speed_up": 3.0, "exposure_speed_down": 1.0, "calibration_constant": 16.0, "focal_distance": 1000.0, "blur_amount": 1.0, "blur_radius": 0.0, "motion_blur_intensity": 0.45, "motion_blur_max_distortion": 0.35, "motion_blur_min_object_screen_size": 0.1, "slope": 0.88, "toe": 0.55, "shoulder": 0.26, "black_clip": 0.0, "white_clip": 0.04, "temp": 6500.0, "tint": 0.0, "chromatic_aberration_intensity": 0.0, "chromatic_aberration_offset": 0.0, "enable_postprocess_effects": "True", "lens_circle_falloff": 5.0, "lens_circle_multiplier": 0.0, "lens_k": -1.0, "lens_kcube": 0.0, "lens_x_size": 0.08, "lens_y_size": 0.08 }, { "type": "sensor.camera.rgb", "id": "view", "x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": -20.0, "yaw": 0.0, "width": 800, "height": 600, "fov": 100, "sensor_tick": 0.05, "gamma": 2.2, "shutter_speed": 60.0, "iso": 1200.0, "fstop": 1.4, "min_fstop": 1.2, "blade_count": 5, "exposure_mode": "manual", "exposure_compensation": 3.0, "exposure_min_bright": 0.1, "exposure_max_bright": 2.0, "exposure_speed_up": 3.0, "exposure_speed_down": 1.0, "calibration_constant": 16.0, "focal_distance": 1000.0, "blur_amount": 1.0, "blur_radius": 0.0, "motion_blur_intensity": 0.45, "motion_blur_max_distortion": 0.35, "motion_blur_min_object_screen_size": 0.1, "slope": 0.88, "toe": 0.55, "shoulder": 0.26, "black_clip": 0.0, "white_clip": 0.04, "temp": 6500.0, "tint": 0.0, "chromatic_aberration_intensity": 0.0, "chromatic_aberration_offset": 0.0, "enable_postprocess_effects": "True", "lens_circle_falloff": 5.0, "lens_circle_multiplier": 0.0, "lens_k": -1.0, "lens_kcube": 0.0, "lens_x_size": 0.08, "lens_y_size": 0.08 }, { "type": "sensor.lidar.ray_cast", "id": "lidar1", "x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "range": 50, "channels": 32, "points_per_second": 320000, "upper_fov": 2.0, "lower_fov": -26.8, "rotation_frequency": 20, "sensor_tick": 0.0 }, { "type": "sensor.other.radar", "id": "front", "x": 2.0, "y": 0.0, "z": 1.5, "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "horizontal_fov": 30.0, "vertical_fov": 10.0, "points_per_second": 1500, "range": 100.0 }, { "type": "sensor.other.gnss", "id": "gnss1", "x": 1.0, "y": 0.0, "z": 2.0, "noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0, "noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0 }, { "type": "sensor.other.imu", "id": "imu1", "x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0, "noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0, "noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0 }, { "type": "sensor.other.collision", "id": "collision1", "x": 0.0, "y": 0.0, "z": 0.0 }, { "type": "sensor.other.lane_invasion", "id": "laneinvasion1", "x": 0.0, "y": 0.0, "z": 0.0 } ] }

This is my bro.rviz file Panels:

• Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded:
  • /Global Options1
  • /Status1 Splitter Ratio: 0.5 Tree Height: 233
• Class: rviz/Selection Name: Selection
• Class: rviz/Tool Properties Expanded:
  • /2D Pose Estimate1
  • /2D Nav Goal1
  • /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441
• Class: rviz/Views Expanded:
  • /Current View1 Name: Views Splitter Ratio: 0.5
• Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: Camera
• Class: rviz_carla_plugin/CarlaControl Name: CarlaControl Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays:
  • Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: Value: true
  • Class: rviz/Image Enabled: true Image Topic: /carla/ego_vehicle/camera/rgb/view/image_color Max Value: 1 Median window: 5 Min Value: 0 Name: Image Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: true
  • Class: rviz/Image Enabled: true Image Topic: /carla/ego_vehicle/camera/rgb/front/image_color Max Value: 1 Median window: 5 Min Value: 0 Name: Image Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: true
  • Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: PointCloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /carla/ego_vehicle/lidar/front/point_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true
  • Class: rviz/Marker Enabled: true Marker Topic: /carla/marker Name: Marker Namespaces: {} Queue Size: 100 Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true Fixed Frame: map Frame Rate: 30 Name: root Tools:
  • Class: rviz/Interact Hide Inactive Objects: true
  • Class: rviz/MoveCamera
  • Class: rviz/Select
  • Class: rviz/FocusCamera
  • Class: rviz/Measure
  • Class: rviz/SetInitialPose Theta std deviation: 0.2617993950843811 Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5
  • Class: rviz/SetGoal Topic: /move_base_simple/goal
  • Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 10 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 0 Y: 0 Z: 0 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.6703979969024658 Target Frame: Value: Orbit (rviz) Yaw: 0.895399808883667 Saved: ~ Window Geometry: Displays: collapsed: false Height: 846 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d000000a30000005c00fffffffb000000100044006900730070006c00610079007301000000e600000174000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002600000008d0000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1200 X: 67 Y: 27

I am getting the camera sensors but i am not able to see lidar sensor output on rviz

[vedthakur5]

I forgot to post the launch file Launch file :

[vedthakur5]

I don't kow why the launch files is not being printed here so i have posted a pic:

[fpasch]

Please compare with launch configuration carla_ad_demo_with_rviz.launch from carla_ad_demo

[vedthakur5]

Ya thanks for your comment....actually my pointcloud topic was wrong...originally it is Topic: /carla/ego_vehicle/lidar/front/point_cloud but it should be Topic: /carla/ego_vehicle/lidar/lidar1/point_cloud as the id of lidar sensor is lidar1 in sensors.json