search

lardemua / atlascar2

Core packages for the LAR DEMUA Atlas Project
6 stars 1 forks source link

Add sick lms151 to the atlascar2 simulation #33

Open miguelriemoliveira opened 2 years ago

miguelriemoliveira commented 2 years ago

Just a 2d lidar as we used in PSR, configured with the lms 151 parameters.

manuelgitgomes commented 2 years ago

I believe I already have it on another URDF. I will fuse them ASAP. https://github.com/lardemua/atlascar2/blob/b4410f7c4f2720b44bad6e0bd6769e563f28083f/atlascar2_description/urdf/atlascar2_ackermann.urdf.xacro

manuelgitgomes commented 2 years ago

I used this package, but an error appeared: image This is due to the tf_preffix. When defining the sensor, a frame needs to be defined, which is left_laser: https://github.com/lardemua/atlascar2/blob/b9669d13adbb81abd0ffde6a0d5315761a2595c6/atlascar2_description/urdf/atlascar2_ackermann_VLP.urdf.xacro#L116-L122 The problem is that this xacro creates the link and the sensor. So it defines the frame_id of the sensor messages as left_laser, which does not exist, existing in its part atlascar2/left_laser. If I change the value of the xacro to atlascar2/left_laser, while the frame_id changes to the atlascar2/left_laser, the link created is called atlascar2/atlascar2/left_laser, making the frame_id wrong. Should I try to change this on the xacro, making a fork of the original repo?

miguelriemoliveira commented 2 years ago

Hi @manuelgitgomes ,

I think we can solve it. Let's work a bit on this in sync mode next week ok?

manuelgitgomes commented 2 years ago

Ok sure!