A question about the sonar data

[BeyondLeee]

Hi, I want to study the obstacle avoidance problem of multi robots and I need the multibeam sonar data of the rexrov. I saw in the paper that the UAV screenshot with sonar is like this but in my project ,I didn't the blue lasers! Could you tell me how to find them out? And What is the topic of publishing sonar data? Is /rexrov/dvl_sonar0? Thank you very much!

[musamarcusso]

Hi @BeyondLeee, the sonar output for Gazebo has been disabled for performance reasons, but it is configurable through this option of the Gazebo plugin. The sonar simulation is still a feature to be developed, so for now the laser scanner plugins are being used. You might, however, have a better visualization in RViz, have you tried that?

[BeyondLeee]

Hi @musamarcusso ，Thank you for your explanation and If the laserscan can be used, I can also use laserscan instead of sonar. But I still didn't see the image of laserscan in my simulation environment. So if I want to visualize the data of laserscan in RViz. Which topic should I add?

[pxalcantara]

Hi @BeyondLeee is this issue still makes sense?