Cannot add VLP-16 to Turtlebot4 Simulator #46
Description
Please provide the following information:
- OS: Ubuntu 22.04
- ROS Distro: Humble
- Built from source or installed:
- Package version: [c27f15d (https://github.com/turtlebot/turtlebot4_simulator/commit/c27f15d4e0c612efb799ac81e398137c5f9b154c)
Expected behaviour
I tried adding VLP-16 to the urdf in turtlebot4_description from the repo (https://bitbucket.org/DataspeedInc/velodyne_simulator.git) which works in gazebo by itself. The resulting URDF is:
<?xml version="1.0" ?>
<robot name="turtlebot4" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Base create3 model -->
<xacro:include filename="$(find irobot_create_description)/urdf/create3.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/rplidar.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/oakd.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/camera_bracket.urdf.xacro" />
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro" />
<!-- Mechanical properties -->
<xacro:property name="rplidar_x_offset" value="${0.393584*cm2m}"/>
<xacro:property name="rplidar_y_offset" value="${0*cm2m}"/>
<xacro:property name="rplidar_z_offset" value="${7.529272*cm2m}"/>
<xacro:property name="camera_mount_x_offset" value="${-9*cm2m}"/>
<xacro:property name="camera_mount_y_offset" value="${0*cm2m}"/>
<xacro:property name="camera_mount_z_offset" value="${2.914772*cm2m}"/>
<xacro:property name="oakd_lite_x_offset" value="${5.294026*cm2m}"/>
<xacro:property name="oakd_lite_y_offset" value="${0*cm2m}"/>
<xacro:property name="oakd_lite_z_offset" value="${9.25385*cm2m}"/>
<xacro:property name="vlp16_x_offset" value="${5.294026*cm2m}"/>
<xacro:property name="vlp16_y_offset" value="${0*cm2m}"/>
<xacro:property name="vlp16_z_offset" value="${10.25385*cm2m}"/>
<!-- Turtlebot4 sensor definitions -->
<xacro:rplidar name="rplidar" parent_link="base_link" gazebo="$(arg gazebo)">
<origin xyz="${rplidar_x_offset} ${rplidar_y_offset} ${rplidar_z_offset + base_link_z_offset}"
rpy="0 0 ${pi/2}"/>
</xacro:rplidar>
<xacro:camera_bracket name="oakd_camera_bracket" parent_link="base_link">
<origin xyz="${camera_mount_x_offset} ${camera_mount_y_offset} ${camera_mount_z_offset + base_link_z_offset}"/>
</xacro:camera_bracket>
<xacro:oakd model="lite" parent_link="oakd_camera_bracket">
<origin xyz="${oakd_lite_x_offset} ${oakd_lite_y_offset} ${oakd_lite_z_offset}"/>
</xacro:oakd>
<xacro:VLP-16>
<origin xyz="${vlp16_x_offset} ${vlp16_y_offset} ${vlp16_z_offset}"/>
</xacro:VLP-16>
<xacro:VLP-16 parent="base_link" name="velodyne" topic="/velodyne_points" organize_cloud="false" hz="10" samples="440" gpu="false">
<origin xyz="${vlp16_x_offset} ${vlp16_y_offset} ${vlp16_z_offset}" rpy="0 0 0" />
</xacro:VLP-16>
</robot>
Actual behaviour
The robot does not spawn in Ignition Gazebo and here is what it shows:
[spawner-42] [ERROR] [1689259153.405254391] [spawner_diffdrive_controller]: Controller manager not available
[create-7] [INFO] [1689259153.551385455] [ros_gz_sim]: Waiting messages on topic [robot_description].
[ERROR] [spawner-42]: process has died [pid 175739, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diffdrive_controller -c controller_manager --ros-args -r __ns:=/ --params-file /opt/ros/humble/share/irobot_create_control/config/control.yaml'].
Other notes
Is there anything wrong I am doing? Is there a guide on adding links to turtlebot4 simulator?