cob_scan_unifier not showing in rviz

[ipa-rar-sg]

When selecting the topic for LaserScan it only prompts for Laser1 or Laser2 respectively, even though the original param for the rviz config is the cob_scan_unifier, nevertheless, this value doesn't show the laser scans in rviz, while the other scans separately do.

All of this is done in Ubuntu 20.04, ROS Noetic, neo_simulation for MPO_700, with gmapping true, moving_base true, others args to false. Executing the main simulation.launch file.

Am I missing something? Thanks ;)

[padhupradheep]

Thanks for the report. We do not actually use the cob_scan_unifer anymore. We had few months back removed it. You have to use either laser 1 or laser 2. We will update the RViz configs soon.

All of this is done in Ubuntu 20.04, ROS Noetic, neo_simulation for MPO_700, with gmapping true, moving_base true, others args to false. Executing the main simulation.launch file.

Is there any specific reason you wanted to run gmapping and move_base together? Technically it is possible to run both move_base and gmapping at the same time. But, that is not advised, since you will have localization running from both the packages, because of which you can evidently see the robot jumping on RViz.

[ipa-rar-sg]

Great, thanks!

[padhupradheep]

No problem.

I'll just keep it open, so I do not forget to follow it up and fix the configs for RViz.

If you'd wish to contribute to this repo, feel free to give in a PR. We'll be happy to have to people from the community contributing.

For reference, some while back, the same issue was resolved in melodic branch in this PR: https://github.com/neobotix/neo_simulation/pull/27/files