add velodyne sensor, simulation suddenly stops.

[osrf-migration]

Original report (archived issue) by Anonymous.

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We try to use velodyne_simulation package (https://bitbucket.org/DataspeedInc/velodyne_simulator/src/01bfb68ef647?at=master) with VMRC simulation.
However, when we add velodyne sensor to the URDF model and try to recieve /velodyne_points topic, simulation time in gazebo stops.

[osrf-migration]

Original comment by Masaya Kataoka (Bitbucket: hakuturu583).

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Sorry, I forgot to log in bitbucket.
I built this issue.
My name is Masaya Kataoka.(https://github.com/hakuturu583)
Software Engineer in OUXT Polaris.

[osrf-migration]

Original comment by Masaya Kataoka (Bitbucket: hakuturu583).

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When I tested "roslaunch velodyne_description example.launch" , it works correctly.
So, I don't think velodyne_simulation package is wrong.

[osrf-migration]

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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Thanks for reporting the issue. I managed to reproduce it. I spent some time debugging and seems to appear when the world contains a heightmap. Could you try commenting out the load of sandisland in robotx_gazebo/worlds/sandisland_buoys.world?

Replace this block:

#!c++

<!-- The models below should be included in kingfisher_gazebo package -->
<include>
   <pose> 50 50 10 0 0 0 </pose>
   <uri>model://models/sandisland</uri>
</include>

with this one:

#!c++

<!-- The models below should be included in kingfisher_gazebo package -->
<!--
<include>
   <pose> 50 50 10 0 0 0 </pose>
   <uri>model://models/sandisland</uri>
</include>
-->

Let me know if now the velodyne keeps working.

[osrf-migration]

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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Issue #2 was marked as a duplicate of this issue.

[osrf-migration]

Original comment by Kevin Allen (Bitbucket: kev-the-dev).

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Perhaps a good solution for this is to use the height map only for the geometry, and use simplified boxes for the geometry for sandisland, as I imagine the velodyne sensor uses the collision.

[osrf-migration]

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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• changed state from "new" to "resolved"

This shouldn't be an issue anymore. Please, reopen if there are problems again.