[Solved] Gazebo on melodic

[vgupta68]

Hi,

Installed ROS melodic and rosbot_description per direction at https://github.com/husarion/rosbot_description/blob/master/README.md.

Then, ran these for rosbot gazebo world with:

In Terminal 1, launch the Gazebo simulation:

$ source ~/catkin_ws/devel/setup.sh

$ roslaunch rosbot_description rosbot_rviz_gmapping.launch

Output:
opens gazebo with objects

      opens rviz with rosbot.  Changed laserscan topic from /rosbot/laser/scan to /scan

           Problem

                  See flat map

                  laser scan data is not visible and does not show (help!)

       Also, ran rostopic echo /scan results with

                 ranges: [ -inf, -inf.... , -inf]

                 intensities: [1.0, 1.0, 1.0, ... 1.0]

In Terminal 2, start teleop and drive the ROSbot, observe in Rviz as the map is created:

$ source ~/catkin_ws/devel/setup.sh

$ roslaunch rosbot_navigation rosbot_teleop.launch

NOTE: used this to move the rosbot in gazebo

Help: laserscan data is not visible in rviz and map is flat like the grid.

Thanks
Vineet

[lukasz.mitka]

Hello Vineet,

Some GPU’s are not supporting correctly gazebo laser scanner plugin.
PLease find line 120 in rosbot.gazebo file and comment section following <!-- RpLidar A2 using GPU --> then uncomment section following <!-- RpLidar A2 using CPU -->.

With this modification, you should be able to see laser scans.

Regards,
Łukasz

[vgupta68]

Lukasz,

I have uncommented and it works.

Althought the lines are from 186 to 217 for RpLidar A2 using CPU.

Thanks
Vineet

[Hubert_Zwiercan]