Add sick lms151 to the atlascar2 simulation

[miguelriemoliveira]

Just a 2d lidar as we used in PSR, configured with the lms 151 parameters.

[manuelgitgomes]

I believe I already have it on another URDF. I will fuse them ASAP.
https://github.com/lardemua/atlascar2/blob/b4410f7c4f2720b44bad6e0bd6769e563f28083f/atlascar2_description/urdf/atlascar2_ackermann.urdf.xacro

[manuelgitgomes]

I used this package, but an error appeared:

This is due to the tf_preffix. When defining the sensor, a frame needs to be defined, which is left_laser:

atlascar2/atlascar2_description/urdf/atlascar2_ackermann_VLP.urdf.xacro

Lines 116 to 122 in b9669d1

	<!-- left lms151 laser -->
	<xacro:sick_lms1xx frame="left_laser" topic="/left_laser/scan"/>
	<joint name="base_link_to_left_laser" type="fixed">
	<origin xyz="${length/2 + length_offset - 0.08} 0.76 ${height_offset+0.27}" rpy="0 0 ${0.7854}"/>
	<parent link="base_link"/>
	<child link="left_laser"/>
	</joint>

The problem is that this xacro creates the link and the sensor. So it defines the frame_id of the sensor messages as left_laser, which does not exist, existing in its part atlascar2/left_laser.
If I change the value of the xacro to atlascar2/left_laser, while the frame_id changes to the atlascar2/left_laser, the link created is called atlascar2/atlascar2/left_laser, making the frame_id wrong.
Should I try to change this on the xacro, making a fork of the original repo?

[miguelriemoliveira]

Hi @manuelgitgomes ,

I think we can solve it. Let's work a bit on this in sync mode next week ok?

[manuelgitgomes]

Ok sure!