tu-darmstadt-ros-pkg / hector_models Goto Github PK

hello i am new to ros i download hector repository to my workspace and i want to run the package to see all these different sensors can someone help me?Thanks

Are the calibration parameters (intrinsics and baseline) of the D435 (or any camera, really) the same as the real camera?

Hi! In the hokuyo simulation file (hokuyo_utm30lx.urdf.xacro), I doubt whether the noise model is set rightly (L63):

< plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so" >
< gaussianNoise >0.005< /gaussianNoise >
...
< /plugin >

Check the SDF manual of Gazebo (v 1.2 - 1.4), it seems that the noise model should be indicated like this:
< noise >
< type >gaussian< /type >
< mean >noise_mean< /mean >
< stddev >noise_stddev< /stddev >
< /noise >

And I suggest that the standard deviation part of the noise model could be changed with the xacro macro (as I think the mean part should be always 0). Thanks for viewing!

Thank you so much for your implementation of the ROS packages of hector sensors!

However, I'm confused about one argument for the sonar sensor: ray_count. What is it and what value should I give it if I want to use it as a single-beam echo sounder with a circular cone detection area?

Actually, if I set it to be 1, the sensor could only detect obstacles right in front of the sensor in the line but not inside the field of view.
Otherwise, if I set it to be a bigger value like 100, the return value will have some tremendous changes every now and then. For example, I make the robot static at one position in a static environment, the value will suddenly change from 4.6 to 10 (10 is the max range), and then change back. Meanwhile, the computer will be very slow which seems the 100 ray count sonar uses up a lot of computation ability.

Have you seen this before and do you know how to fix it? Thank you again for your project and your help! Look forward to your reply!

I tried to add vlp16_model into our turtlebot2 robot. However, when I run this command,
rosrun xacro xacro kobuki_hexagons_velodyne.urdf.xacro > ~/temp.xml

error came as below. I've search online but still can't figure out what "xacro:inertial_sphere" means. Anyone helps, please? BTW, the OS is ubuntu16 and ros version is kinect. Thanks!

unknown macro name: xacro:inertial_sphere None None
when instantiating macro: vlp16_model (kobuki_hexagons_velodyne.urdf.xacro)
in file: kobuki_hexagons_velodyne.urdf.xacro

Hi!

Could you please do a release for kinetic? I don't know if the Gazebo version change makes the port difficult, but I hope it does not!