Hello, I am trying to display a model using a urdf file. I was able to display the model, but the lidar sensing data is not displayed. I have confirmed that libgazebo_ros_ray_sensor.so is in /opt/ros/humble/lib. Please tell me how to solve this.
urdf file
<gazebo reference="lidar_link">
<sensor name="gazebo_lidar" type="ray">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>60</update_rate>
<plugin filename="libgazebo_ros_ray_sensor.so" name="gazebo_lidar">
<ros>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>lidar_link</frame_name>
</plugin>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>0.000000</min_angle>
<max_angle>3.140000</max_angle>
</horizontal>
</scan>
<range>
<min>0.150</min>
<max>6.0</max>
<resolution>0.015</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
</sensor>
<material>Gazebo/DarkGrey</material>
</gazebo>
launch file
# set gazebo resource path
gz_sim_resource_path_candidates = [os.path.join("/opt/ros/humble", "share"),
":" +
os.path.join(urdf_defalut_path)]
set_gz_sim_resource_path_env = SetEnvironmentVariable(
"GZ_SIM_RESOURCE_PATH",
gz_sim_resource_path_candidates,
)
# start gazebo
gazebo_share_path = get_package_share_directory("ros_gz_sim")
gazebo_launch = IncludeLaunchDescription(
launch_description_source=PathJoinSubstitution(
[gazebo_share_path, "launch", "gz_sim.launch.py"]
),
launch_arguments={
"gz_args": [
"-r ",
PathJoinSubstitution([package_dir, "worlds", world]),
]
}.items(),
)
ros_gz_bridge_node = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
parameters=[
{
"config_file": PathJoinSubstitution(
[
package_dir,
"config",
"ros_gz_bridge.yaml",
]
),
}
],
output="screen",
)
gazebo_model_spawner_node = Node(
package="ros_gz_sim",
executable="create",
name="gazebo_robot_model_spawner",
output="screen",
arguments=[
"-name", model_name,
"-topic", "/robot_description",
],
)
Error message
Library [/opt/ros/humble/lib/libgazebo_ros_ray_sensor.so] does not export any plugins. The symbol [IgnitionPluginHook] is missing, or it is not externally visible.
