search

uuvsimulator / uuv_simulator

Gazebo/ROS packages for underwater robotics simulation
https://uuvsimulator.github.io/
Other
676 stars 355 forks source link

A question about the sonar data #243

Open BeyondLeee opened 6 years ago

BeyondLeee commented 6 years ago

Hi, I want to study the obstacle avoidance problem of multi robots and I need the multibeam sonar data of the rexrov. I saw in the paper that the UAV screenshot with sonar is like this image but in my project ,I didn't the blue lasers! Could you tell me how to find them out? And What is the topic of publishing sonar data? Is /rexrov/dvl_sonar0? Thank you very much!

musamarcusso commented 6 years ago

Hi @BeyondLeee, the sonar output for Gazebo has been disabled for performance reasons, but it is configurable through this option of the Gazebo plugin. The sonar simulation is still a feature to be developed, so for now the laser scanner plugins are being used. You might, however, have a better visualization in RViz, have you tried that?

BeyondLeee commented 6 years ago

Hi @musamarcusso ，Thank you for your explanation and If the laserscan can be used, I can also use laserscan instead of sonar. But I still didn't see the image of laserscan in my simulation environment. So if I want to visualize the data of laserscan in RViz. Which topic should I add?

pxalcantara commented 4 years ago

Hi @BeyondLeee is this issue still makes sense?