issue in the source for gazebo simulation in melodic ver.

[LeonJung]

Hi,

I found that current melodic source base - gazebo simulation doesn't work (by following the commands described in README) with navigation stack,
since the gazebo xacro file for sick_s300 urdf doesn't have (I guess) correct frameName for libgazebo_ros_gpu_laser.so.

And also is there anything to merge two sick lidar datas (front / back) together to output /scan?
since the navigation stack wants /scan topic, not /b_scan and /f_scan.

I modified those two things like,
putting ${prefix} in front of ${link},
and changed topicName from ${topic} to scan (I know that this will make /b_scan data and /f_scan data be mixed and published, so it may cause some trouble on localization)
and now the simulation works perfect with navigation stack.

or if there is other solutions that I couldn't catch, please suggest that.

Cheers.

[mintar]

I found that current melodic source base - gazebo simulation doesn't work (by following the commands described in README) with navigation stack,
since the gazebo xacro file for sick_s300 urdf doesn't have (I guess) correct frameName for libgazebo_ros_gpu_laser.so.

I have just tested it, and it all works correctly. If it doesn't work on your machine, you probably don't have a graphics card that works with Gazebo. Please try again on a PC with a different GPU.

And also is there anything to merge two sick lidar datas (front / back) together to output /scan?
since the navigation stack wants /scan topic, not /b_scan and /f_scan.

Yes, that's already included and running:

https://github.com/dfki-ric/mir_robot/blob/bc6c4ff4f9a980ec25f2159af72295411b7d09f2/mir_gazebo/launch/mir_gazebo_common.launch#L38-L40

I modified those two things like,
putting ${prefix} in front of ${link},
and changed topicName from ${topic} to scan (I know that this will make /b_scan data and /f_scan data be mixed and published, so it may cause some trouble on localization)
and now the simulation works perfect with navigation stack.

There is no need to modify anything. It already works the way you want it. :)

[mintar]

I've committed a fix for this problem!