Crash when getting data from two lidar simultaneously

[Former user]

With xacro

<VLP-16 parent="base_link_${id}" name="velodyne_front" topic="/velodyne_points/front">
  <origin xyz="0.1 0.1 -0.14252" rpy="0 -0.7 0.7" />
</VLP-16>
<VLP-16 parent="base_link_${id}" name="velodyne_down" topic="/velodyne_points/down">
  <origin xyz="-0.1 -0.1 -0.25" rpy="0 0 0" />
</VLP-16>

Running the command

rostopic echo /velodyne_points/down

Returns data. Then running

rostopic echo /velodyne_points/front

Also returns data but makes gazebo crash.

If it helps, loading each lidar takes forever.

I'm running indigo on 14.4. The code is commit ea4d2dfe3ea165a02f1f26d4543f84f5a172347f

[Kevin Hallenbeck]

Try changing the number of samples in the urdf from 1875 to 187. Maybe gazebo can't handle that much data.

https://bitbucket.org/DataspeedInc/velodyne_simulator/src/ea4d2dfe3ea165a02f1f26d4543f84f5a172347f/velodyne_description/urdf/VLP-16.urdf.xacro?at=gazebo2&fileviewer=file-view-default#VLP-16.urdf.xacro-65

[Kevin Hallenbeck]

The number of samples parameter is now changeable, and the default is smaller for real-time simulations. See commit b43afb5

[Kevin Hallenbeck]

Closing on inactivity