Problems using Laser plugin about flatland HOT 1 OPEN

Hi,

Are you using ros1 or the ros2 branch?

The laser scan is not currently visualized in Flatland Viz, however if you launch rviz you should be able to see it if you set the "Fixed Frame" to "base" or "laser_front".

The TF tree is probably missing a map->base transform (I believe rviz defaults its fixed frame to map), so it can't plot the laser scan since it doesn't know where it is in the map.

You can fix this by either launching another node to publish map to base, or map->odom->base depending. An alternative (not recommended if you're also using ros navigation to drive the robot around the simulation) is using the model tf publisher plugin to publish map->base. This is normally the job of the localization system you're using, but if you're just trying to simulate moving the bot around in flatland, you can do this for now.

There are also more options in the diff drive plugin described here:

https://flatland-simulator.readthedocs.io/en/latest/included_plugins/diff_drive.html

from flatland.