Only a semi-circle is seen when we use the Visualise LIDAR plugin

[harishkumarbalaji]

I am facing the same issue like #54 , but more weird that only a semi-circle is seen when we use the Visualise LIDAR plugin.

Nvidia-smi output

Wed Oct 23 17:41:59 2024       
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 550.107.02             Driver Version: 550.107.02     CUDA Version: 12.4     |
|-----------------------------------------+------------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
|                                         |                        |               MIG M. |
|=========================================+========================+======================|
|   0  NVIDIA GeForce GTX 1660 ...    Off |   00000000:01:00.0 Off |                  N/A |
| N/A   53C    P0             18W /   60W |       6MiB /   6144MiB |      0%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------+------------------------+----------------------+
                                                                                         
+-----------------------------------------------------------------------------------------+
| Processes:                                                                              |
|  GPU   GI   CI        PID   Type   Process name                              GPU Memory |
|        ID   ID                                                               Usage      |
|=========================================================================================|
|    0   N/A  N/A      2058      G   /usr/lib/xorg/Xorg                              4MiB |
+-----------------------------------------------------------------------------------------+```

_Originally posted by @harishkumarbalaji in https://github.com/turtlebot/turtlebot4_simulator/issues/54#issuecomment-2433685168_
            

[aaronwilhelm1]

Have you tried changing the render_engine to Ogre2 in irobot_create_description/urdf/create3.urdf.xacro as mentioned in this thread? I had a similar problem and that fixed it for me.

[harishkumarbalaji]

Have you tried changing the render_engine to Ogre2 in irobot_create_description/urdf/create3.urdf.xacro as mentioned in this thread? I had a similar problem and that fixed it for me.

Thanks for the reply. After upgrading it, I have the following observations,

• The Lidar rays now have a proper range, but only semi-circle(or half) rays are still seen, not in all directions.
• The RTF reduces below 1% and it is very laggy.
• My Nvidia Graphics card is not being used and it is in 0% utilization

Any idea on how to make ign gazebo run on a Graphics card instead of a CPU?

[aaronwilhelm1]

Hmm, I'm not sure what's going on with the semi-circle, unfortunately it's beyond my knowledge. I thought that by default it should run on the GPU, I'm thinking that there might be a setup problem with drivers or incompatibility or a setting you need to change. Sorry I can't help you further there.

One thing you could try is the lite model of the turtlebot4 to see if that might fix your semi-circle problem.

[hilary-luo]

@harishkumarbalaji Try changing your Nvidia profile settings and setting the GPU to always be used (PRIME Profiles -> NVIDIA (Performance Mode)).

[harishkumarbalaji]

Thanks for the suggestion, @hilary-luo after changing this, the gazebo is running on Nvidia Graphics now, the ray's range is normal, and FPS has not dropped more, but still the semi-circle problem is seen.

[hilary-luo]

@harishkumarbalaji Is this issue persistent for you? Can you share information about your setup? are you running native Ubuntu, latest packages? Is this Humble or Jazzy? I haven't found any potential causes for this at this point.

[harishkumarbalaji]

@harishkumarbalaji Is this issue persistent for you? Can you share information about your setup? are you running native Ubuntu, latest packages? Is this Humble or Jazzy? I haven't found any potential causes for this at this point.

@hilary-luo Yes, this issue seems to be persistent. Currently, when I use Visualize Lidar, I see the following output.

Following are the setup information,

• Running natively on humble with Ubuntu 22.04.5 LTS
• RAM - 16GB
• CPU - i7 9th Gen
• VRAM - GTX 1660 Ti 6GB
• Latest commit (running source build of origin/humble instead of prebuilt binaries for both Create 3 and Turtlebot 4 repos)
• output of colcon list -n in my workspace

irobot_create_common_bringup
irobot_create_control
irobot_create_description
irobot_create_gazebo_bringup
irobot_create_gazebo_plugins
irobot_create_gazebo_sim
irobot_create_ignition_bringup
irobot_create_ignition_plugins
irobot_create_ignition_sim
irobot_create_ignition_toolbox
irobot_create_msgs
irobot_create_nodes
irobot_create_toolbox
turtlebot4_description
turtlebot4_desktop
turtlebot4_ignition_bringup
turtlebot4_ignition_gui_plugins
turtlebot4_ignition_toolbox
turtlebot4_msgs
turtlebot4_navigation
turtlebot4_node
turtlebot4_simulator
turtlebot4_viz