VLP-16 Simulator doesn't appear to be working in complex sceneries ( e.g. VRC terrain)

Issue #6 closed
Bart Gallet created an issue


First of, I am relatively new to Gazebo - I am just starting to get into it, so the issue I am experiencing could be self-inflicting.

I have attached some files to reproduce the issue.

I am using ROS Kinetic and Gazebo 7 on Ubuntu 16.04 LTS.

When I place the VLP-16 model in the vrc_driving_terrain model, suddenly Gazebo is no longer publishing anything anymore (state publisher, point cloud, clock, etc.).



Comments (6)

  1. Kevin Hallenbeck

    It is possible that Gazebo can't handle that much data. Try reducing the number of samples in the urdf. See issue #2.

    I should probably make a parameter for the number of samples.

  2. Kevin Hallenbeck

    I was able to reproduce your problem with the provided world file.

    Gazebo appears to hang, but really it is taking a very long time to compute the ray sensor data. When I set the VLP-16 samples="20" in example.urdf, gazebo published data once every 2 seconds.

    It must take significantly longer to compute ray sensor collisions on the vrc_driving_terrain heightmap. I don't think there is anything that this repository can do to speed that up.

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