turtlebot3 wrong in alignment

[khuechuong]

I'm running on ROS Noetic.

I'm having problems with camera lidar alignment in gazebo which should have been perfect.

I used the waffle_pi and made 2 adjustments:

  <xacro:include filename="$(find ouster_description)/urdf/OS1-64.urdf.xacro"/>
  <xacro:OS1-64>
    <origin xyz="0 0 0.4" rpy="0 0 0" />
  </xacro:OS1-64>

on top of turtlebot3_waffle_pi.urdf.xacro

and adding to turtlebot3_world.launch:

<node pkg="robot_state_publisher" type="robot_state_publisher" name="waffle_state_publisher"/>

I tried the same thing for VLP-16 and same results. I got my ouster from https://github.com/clearpathrobotics/ouster_description and velodyne from velodyne_simulator via sudo apt install.

[yun-goon]

Hello,
We officially do not support the integration of Ouster OS1-64 or Velodyne VLP-16 with TurtleBot3. However, based on the images you provided, it appears that the sensor's position might not be correctly aligned. Please ensure that the tag in your URDF/XACRO file is properly configured to match the expected position and orientation of the sensor relative to the robot. Additionally, verifying the tf tree in your simulation environment could help identify any misalignments.
Thank you.