Laser scanner oscilating for some reason

Create issue
Issue #2529 new
Eugen Funk created an issue

I am observing very strange behaviour of the simulated laser scanner in gazebo. https://ibb.co/cN0vpz

  • Is it because of wrong inertial settins in the URDF?
  • Can this result from incorrect URDF links?

See the link above or the attached video for details.

This is the URDF/xacro definition of the laser:

<gazebo reference="base_laser_link">
    <material>Gazebo/DarkGrey</material>
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>25</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>560</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.0120</min>
          <max>30.5</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>base_laser_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

Comments (1)

  1. Log in to comment