Jerrybaoyilei
commented
4 months ago I found a temporary fix to the solution. If you have multiple laser scanners in the simulation, you need to have one rmf_obstacle_detector_laserscan node for each scanner. Have each scanner publish to a separate topic, for example, /lidar/scan/<scanner_name>, and have the corresponding rmf_obstacle_detector_laserscan node subscribe to that topic. Otherwise, some scanners will be picked up by other scanners as obstacles.
Before proceeding, is there an existing issue or discussion for this?
OS and version
Ubuntu 22.04
Open-RMF installation type
Binaries
Other Open-RMF installation methods
No response
Open-RMF version or commit hash
2.1.2
ROS distribution
Iron
ROS installation type
Binaries
Other ROS installation methods
No response
Package or library, if applicable
No response
Description of the bug
If I have 2 lidar models in the simulation, The lane blocker no longer works. The lasers from the lidar model start to flash. There are multiple large obstacles that show up in Rviz, even though I never added any obstacle in the simulation. Also, some of the lidar rays pass through the walls, even though I set the lidar models' elevation to be 0.5m.
If I only have 1 lidar model, everything works fine.
Steps to reproduce the bug
Run the simulation (for example, the demo office from
rmf_demos), and run the laserscan detector node, and then run the lane blocker node. Also start the Gazebo-ROS bridge for the laser scan topic and clock topic.Expected behavior
No response
Actual behavior
No response
Additional information or screenshots
Below are 2 screenshots I took. It seems like only one lidar is working at one time.
