Can't use Ignition Gazebo's visualise lidar plugin and ros_ign_bridge at the same time.

[drfknoble]

Hi there,

I'm trying to use Ignition Gazebo's Visualize Lidar plugin and ros_ign_bridge at the same time; however, whenever I do, I get the following error:

[GUI] [Err] [VisualizeLidar.cc:275] Error entity model_with_lidar/link/gpu_lidar doesn't exist and cannot be used to set lidar visual pose

The command I use to bridge between Ignition Gazebo and ROS is as follows:

ros2 run ros_ign_bridge parameter_bridge /lidar@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan

If I use either on their own, they work fine; I can use the plugin as intended and can use rqt to check the data being received by ROS.

I am using Ignition Gazebo, version 4.1.0 and have tested this with the example world provided here: https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/examples/worlds/visualize_lidar.sdf.

Any help getting this to work would be greatly appreciated.

Best regards,

Frazer

[chapulina]

Interesting, it seems that the bi-directional bridge may be republishing its own messages. I don't see the error if I use a uni-directional bridge from ign to ROS:

ros2 run ros_ign_bridge parameter_bridge /lidar@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan

[drfknoble]

@chapulina Thanks for your reply! I hadn't even thought to try the uni-directional bridge to send the sensor data. I just tried and it worked as you said. That resolves my issue.