Fixed gazebo plugin in urdf to work with humble (#102)

Added gazebo_model_path export to package.xml to enable gazebo to find meshes. Co-authored-by: Isaak Ihorst <[email protected]>
uos · Jul 10, 2023 · 533b374 · 533b374
1 parent e09b5e6
commit 533b374
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 6 deletions.
diff --git a/package.xml b/package.xml
@@ -39,5 +39,6 @@
 
   <export>
     <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/.." />
   </export>
 </package>
diff --git a/urdf/sick_tim.urdf.xacro b/urdf/sick_tim.urdf.xacro
@@ -82,13 +82,18 @@
             <max>${max_range}</max>
             <resolution>0.01</resolution>
           </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.005</stddev>
+          </noise>
         </ray>
-        <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
-          <gaussianNoise>0.005</gaussianNoise>
-          <alwaysOn>true</alwaysOn>
-          <updateRate>${update_rate}</updateRate>
-          <topicName>${ros_topic}</topicName>
-          <frameName>${link}</frameName>
+        <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_ray_sensor.so">
+            <ros>
+                <remapping>~/out:=${ros_topic}</remapping>
+            </ros>
+            <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>${link}</frame_name>
         </plugin>
       </sensor>
     </gazebo>