Issue #22 resolved
dinesh lama
created an issue

After i run command "X4_SENSOR_CONFIG_4=1 roslaunch subt_example team.launch", the range of the laserscan in only coming less than than 1 as also shown by below screenshot: Screenshot from 2018-11-17 23-50-44.png

This was happening for the X2 robot also when i used command: "X2_SENSOR_CONFIG_3=1 roslaunch subt_example team.launch": Screenshot from 2018-11-17 23-48-48.png But after i replaced the sensor part of the planar_lidar.urdf.xacro file with below code the range is coming fine for X2 robot:

    <sensor type="ray" name="${name}">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
       <plugin name="gazebo_ros_planar_lidar" filename="libgazebo_ros_laser.so">
          <topicName>${topic}</topicName>
          <frameName>${name}</frameName>
          <robotNamespace>${robot_namespace}</robotNamespace>
        </plugin>
    </sensor> 

But still the range of X4 laser scan is under 1. I am running system with 8 gb ram, 300 gb free HD, ubuntu 18.04, and ros melodic with gazebo 9 as described in catkin install tutorial of this subt repository. But im not using any dedicated nvidia gpu, i'm using i5 3rd gen intel cpu.

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