Tips¶
If you have any problems with laser scan it probably means that you don’t have a dedicated graphic card (or lack appropriate drivers). If that’s the case then you’ll have to change couple of things in /rosbot_description/urdf/rosbot_gazebo file:
Find:
<!-- If you cant't use your GPU comment RpLidar using GPU and uncomment RpLidar using CPU gazebo plugin. -->next coment RpLidar using GPU using <!– –> from <gazebo> to </gazebo> like below:
<!-- gazebo reference="rplidar"> <sensor type="gpu_ray" name="head_rplidar_sensor"> <pose>0 0 0 0 0 0</pose> <visualize>false</visualize> <update_rate>40</update_rate> <ray> <scan> <horizontal> <samples>720</samples> <resolution>1</resolution> <min_angle>-3.14159265</min_angle> <max_angle>3.14159265</max_angle> </horizontal> </scan> <range> <min>0.2</min> <max>30.0</max> <resolution>0.01</resolution> </range> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </ray> <plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_gpu_laser.so"> <topicName>/rosbot/laser/scan</topicName> <frameName>rplidar</frameName> </plugin> </sensor> </gazebo -->Now uncomment RpLidar using CPU plugin removing <!– –>.
If you want to make your laser scan visible just change:
<visualize>false</visualize>to:
<visualize>true</visualize>in the same plug in.