Cant detect model with lidar

[prat1kbhujbal]

Hi, I am trying to visualize the model as an obstacle in rviz using the Lidar sensor but I can't see any collision, in other words, it ignores the collision of the model. Can you please help me with this?

[prat1kbhujbal]

Solved problem with lidar

[ai-winter]

Hello, @prat1kbhujbal

I faced the same problem, could you please give me some suggestions?

[noeperez]

Hi,

You just need to change the type of your robot laser to gpu_ray.

El lun., 13 mar. 2023 9:12, Yang Haodong @.***> escribió:

Hello, @prat1kbhujbal https://github.com/prat1kbhujbal

I faced the same problem, could you please give me some suggestions?

— Reply to this email directly, view it on GitHub https://github.com/robotics-upo/gazebo_sfm_plugin/issues/1#issuecomment-1465687130, or unsubscribe https://github.com/notifications/unsubscribe-auth/ADUK36AQF5KE5UBSA4MUZJLW33JHTANCNFSM6AAAAAAVHUU2GM . You are receiving this because you are subscribed to this thread.Message ID: @.***>

[ai-winter]

@noeperez Thanks for your answer.

I have changed the laser to gpu version but it doesn't work.

  <gazebo reference="base_scan">
    <material>Gazebo/FlatBlack</material>
    <sensor type="gpu_ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg laser_visual)</visualize>

      <update_rate>5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.120</min>
          <max>3.5</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_gpu_laser.so">
        <topicName>scan</topicName>
        <frameName>base_scan</frameName>
      </plugin>
    </sensor>
  </gazebo>

Is there anything wrong? Thanks for your help.

[prat1kbhujbal]

@ai-winter can't see any problem with the plugin, check if the laser works or if you can visualize scan data in Rviz for these changes with normal obstacles might be GPU not supported or a driver problem. Or else you can refer to this it works without GPU requirement- https://github.com/JiangweiNEU/actor_collisions

[noeperez]

Hi again,

as @prat1kbhujbal said. You need to be sure that Gazebo is using your GPU. The actor models do not have a collision model associated. So, they can be sensed using a graphical detection that can be done only by the GPU (gpu_ray).

[ai-winter]

Hello, @noeperez @prat1kbhujbal Thanks a lot for your help! The problem has been solved!

[brilianputraa]

@ai-winter Hi, could I ask you how you solved the problem? because I have the same problem as well, I changed the plugin type to GPU, but the laser scan in Rviz couldn't detect it

[ai-winter]

@brilianputraa

Please refer to the project ros_pedestrians_simulation