VLP-16 Simulator doesn't appear to be working in complex sceneries ( e.g. VRC terrain)
Greetings
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.).
Thanks
Bart
Comments (6)
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The number of samples parameter is now changeable, and the default is smaller for real-time simulations. See commit b43afb5
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reporter Thanks Kevin,
I'll check it out tonight or tomorrow.
Cheers
Bart
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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"
inexample.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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reporter Understood.
Thanks for the feedback.
Cheers
Bart
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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.