Laser scan topic not showing when using "ros2 topic list"

[Daviesss]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

Hi,

I have an issue of not seeing the laser scan topic when checking the lit of topics . When the robot is spawned into gazebo.

Installed packages

Package                              Version
------------------------------------ -----------
action_msgs                          1.2.1
action_tutorials_interfaces          0.20.3
action_tutorials_py                  0.20.3
actionlib_msgs                       4.2.3
aiohappyeyeballs                     2.4.4
aiohttp                              3.11.10
aiosignal                            1.3.2
altgraph                             0.17.2
ament_cmake_test                     1.3.7
ament_copyright                      0.12.10
ament_cppcheck                       0.12.10
ament_cpplint                        0.12.10
ament_flake8                         0.12.10
ament_index_python                   1.4.0
ament_lint                           0.12.10
ament_lint_cmake                     0.12.10
ament_package                        0.14.0
ament_pep257                         0.12.10
ament_uncrustify                     0.12.10
ament_xmllint                        0.12.10
angles                               1.15.0
argcomplete                          3.5.2
attrs                                24.3.0
builtin_interfaces                   1.2.1
catkin_pkg                           1.0.0
cffi                                 1.17.1
colcon-argcomplete                   0.3.3
colcon-bash                          0.5.0
colcon-cd                            0.1.1
colcon-cmake                         0.2.28
colcon-common-extensions             0.3.0
colcon-core                          0.18.2
colcon-defaults                      0.2.8
colcon-devtools                      0.3.0
colcon-library-path                  0.2.1
colcon-metadata                      0.2.5
colcon-output                        0.2.13
colcon-package-information           0.4.0
colcon-package-selection             0.2.10
colcon-parallel-executor             0.3.0
colcon-pkg-config                    0.1.0
colcon-powershell                    0.4.0
colcon-python-setup-py               0.2.9
colcon-recursive-crawl               0.2.3
colcon-ros                           0.5.0
colcon-test-result                   0.3.8
colcon-zsh                           0.5.0
colorama                             0.4.6
coloredlogs                          15.0.1
composition_interfaces               1.2.1
contourpy                            1.3.1
coverage                             7.6.9
cppcheck-htmlreport                  2.16.0
cryptography                         44.0.0
cv_bridge                            3.2.1
cycler                               0.12.1
demo_nodes_py                        0.20.3
diagnostic_msgs                      4.2.3
distlib                              0.3.9
distro                               1.9.0
docutils                             0.21.2
domain_coordinator                   0.10.0
empy                                 3.3.4
example_interfaces                   0.9.3
examples_rclpy_executors             0.15.1
examples_rclpy_minimal_action_client 0.15.1
examples_rclpy_minimal_action_server 0.15.1
examples_rclpy_minimal_client        0.15.1
examples_rclpy_minimal_publisher     0.15.1
examples_rclpy_minimal_service       0.15.1
examples_rclpy_minimal_subscriber    0.15.1
exceptiongroup                       1.2.2
flake8                               7.1.1
fonttools                            4.55.3
frozenlist                           1.5.0
future                               0.18.2
gazebo_msgs                          3.7.0
geometry_msgs                        4.2.3
humanfriendly                        10.0
idna                                 3.10
image_geometry                       3.2.1
importlib_metadata                   8.5.0
importlib_resources                  6.4.5
iniconfig                            2.0.0
interactive_markers                  2.3.2
kiwisolver                           1.4.7
lark-parser                          0.12.0
laser_geometry                       2.4.0
launch                               1.0.4
launch_ros                           0.19.7
launch_testing                       1.0.4
launch_testing_ros                   0.19.7
launch_xml                           1.0.4
launch_yaml                          1.0.4
lifecycle_msgs                       1.2.1
logging_demo                         0.20.3
loguru                               0.7.2
lxml                                 5.2.2
macholib                             1.15.2
map_msgs                             2.1.0
matplotlib                           3.10.0
mccabe                               0.7.0
message_filters                      4.3.3
msgpack                              1.1.0
multidict                            6.1.0
munkres                              1.1.4
my-package                           0.0.0
nav_msgs                             4.2.3
netifaces                            0.11.0
numpy                                1.26.4
opencv-python                        4.9.0
osrf_pycommon                        2.0.2
packaging                            24.2
pcl_msgs                             1.0.0
pendulum_msgs                        0.20.3
pep517                               0.13.0
pillow                               10.3.0
pip                                  21.2.4
pluggy                               1.5.0
ply                                  3.11
propcache                            0.2.1
protobuf                             4.25.1
psutil                               6.1.0
pybind11                             2.13.6
pybind11_global                      2.13.6
pybullet                             3.2.5
pycairo                              1.27.0
pycodestyle                          2.12.1
pycparser                            2.22
pydocstyle                           6.3.0
pydot                                3.0.2
pyflakes                             3.2.0
Pygments                             2.18.0
pyparsing                            3.2.0
PyQt-builder                         1.15.4
PyQt5-sip                            12.12.2
pytest                               8.3.4
pytest-cov                           6.0.0
pytest-repeat                        0.9.3
pytest-rerunfailures                 15.0
python-dateutil                      2.9.0.post0
python_qt_binding                    1.1.2
PyYAML                               6.0.2
qt_dotgraph                          2.2.3
qt_gui                               2.2.3
qt_gui_cpp                           2.2.3
qt_gui_py_common                     2.2.3
quality_of_service_demo_py           0.20.3
rcl_interfaces                       1.2.1
rclpy                                3.3.11
rcutils                              5.1.4
resource_retriever                   3.1.1
rmw_dds_common                       1.6.0
ros2action                           0.18.8
ros2bag                              0.15.9
ros2cli                              0.18.8
ros2component                        0.18.8
ros2doctor                           0.18.8
ros2interface                        0.18.8
ros2launch                           0.19.7
ros2lifecycle                        0.18.8
ros2multicast                        0.18.8
ros2node                             0.18.8
ros2param                            0.18.8
ros2pkg                              0.18.8
ros2run                              0.18.8
ros2service                          0.18.8
ros2topic                            0.18.8
rosbag2_interfaces                   0.15.9
rosbag2_py                           0.15.9
rosdistro                            0.9.0
rosgraph_msgs                        1.2.1
rosidl_adapter                       3.1.5
rosidl_cli                           3.1.5
rosidl_cmake                         3.1.5
rosidl_generator_c                   3.1.5
rosidl_generator_cpp                 3.1.5
rosidl_generator_py                  0.14.4
rosidl_parser                        3.1.5
rosidl_runtime_py                    0.9.3
rosidl_typesupport_c                 2.0.1
rosidl_typesupport_cpp               2.0.1
rosidl_typesupport_fastrtps_c        2.2.2
rosidl_typesupport_fastrtps_cpp      2.2.2
rosidl_typesupport_introspection_c   3.1.5
rosidl_typesupport_introspection_cpp 3.1.5
rospkg                               1.5.1
rpyutils                             0.2.1
rqt_action                           2.0.1
rqt_bag                              1.1.4
rqt_bag_plugins                      1.1.4
rqt_console                          2.0.2
rqt_graph                            1.3.0
rqt_gui                              1.1.6
rqt_gui_py                           1.1.6
rqt_msg                              1.2.0
rqt_plot                             1.1.2
rqt_publisher                        1.5.0
rqt_py_common                        1.1.6
rqt_py_console                       1.0.2
rqt_reconfigure                      1.1.2
rqt_service_caller                   1.0.5
rqt_shell                            1.0.2
rqt_srv                              1.0.3
rqt_topic                            1.5.0
scripts                              3.7.0
sensor_msgs                          4.2.3
sensor_msgs_py                       4.2.3
setuptools                           57.4.0
shape_msgs                           4.2.3
sip                                  0.0.0
six                                  1.17.0
snowballstemmer                      2.2.0
sros2                                0.10.4
statistics_msgs                      1.2.1
std_msgs                             4.2.3
std_srvs                             4.2.3
stereo_msgs                          4.2.3
teleop_twist_keyboard                2.3.2
tf2_geometry_msgs                    0.25.5
tf2_kdl                              0.25.5
tf2_msgs                             0.25.5
tf2_py                               0.25.5
tf2_ros_py                           0.25.5
tf2_tools                            0.25.5
toml                                 0.10.2
tomli                                2.2.1
topic_monitor                        0.20.3
trajectory_msgs                      4.2.3
turtlesim                            1.4.2
unicodedata2                         15.1.0
unique_identifier_msgs               2.2.1
visualization_msgs                   4.2.3
vtk                                  9.2.6
wheel                                0.37.0
wslink                               2.2.1
xacro                                2.0.8
yarl                                 1.18.3
zipp                                 3.21.0

Environment info

Ubuntu 22.04 
MacOS

[traversaro]

Can you report the list of installed packages with pixi list instead of pip list ?

Furthermore, we have a bit of undocumented problem with laser sensors, can you try the following workaround:

pixi shell
cp $CONDA_PREFIX/lib/gazebo-11/plugins/libCameraPlugin.dylib $CONDA_PREFIX/lib/libCameraPlugin.dylib
cp $CONDA_PREFIX/lib/gazebo-11/plugins/libDepthCameraPlugin.dylib $CONDA_PREFIX/lib/libDepthCameraPlugin.dylib
cp $CONDA_PREFIX/lib/gazebo-11/plugins/libGpuRayPlugin.dylib $CONDA_PREFIX/lib/libGpuRayPlugin.dylib
cp $CONDA_PREFIX/lib/gazebo-11/plugins/libRayPlugin.dylib $CONDA_PREFIX/lib/libRayPlugin.dylib

see https://github.com/conda-forge/gazebo-feedstock/blob/9ae0b160ac88aa3ba7c269211a41aca06df8c695/recipe/build.sh#L80-L87 for more details.

[Daviesss]

Thank you for the response .

I was able to copy the libCameraPlugin.dylib and libDepthCameraPlugin.dylib , libRayPlugin.dylib and libRayPlugin.dylib from the plugins directory into the lib directory but only the camera and depth camera works and topics are up .But that of the laser scan plugin doesn't work .

Below is the packages installed :

Package Version Build Size Kind Source
aiohappyeyeballs 2.4.4 pyhd8ed1ab_1 18.9 KiB conda aiohappyeyeballs
aiohttp 3.11.10 py311h4921393_0 859.7 KiB conda aiohttp
aiosignal 1.3.2 pyhd8ed1ab_0 12.9 KiB conda aiosignal
aom 3.8.2 h078ce10_0 2.1 MiB conda aom
argcomplete 3.5.2 pyhd8ed1ab_0 40.4 KiB conda argcomplete
assimp 5.3.1 he63ff86_2 2.5 MiB conda assimp
atk-1.0 2.38.0 hcb7b3dd_1 364.4 KiB conda atk-1.0
attrs 24.3.0 pyh71513ae_0 55 KiB conda attrs
aws-c-auth 0.7.17 h382b9c6_2 87.5 KiB conda aws-c-auth
aws-c-cal 0.6.11 hd34e5fa_0 38.8 KiB conda aws-c-cal
aws-c-common 0.9.15 h93a5062_0 199.7 KiB conda aws-c-common
aws-c-compression 0.2.18 hd34e5fa_3 17.7 KiB conda aws-c-compression
aws-c-event-stream 0.4.2 h247c08a_8 45.7 KiB conda aws-c-event-stream
aws-c-http 0.8.1 hf9e830b_10 148.1 KiB conda aws-c-http
aws-c-io 0.14.7 h33d81b3_6 134.4 KiB conda aws-c-io
aws-c-mqtt 0.10.3 h5f4abda_4 115.3 KiB conda aws-c-mqtt
aws-c-s3 0.5.7 h606a3d2_1 91.2 KiB conda aws-c-s3
aws-c-sdkutils 0.1.15 hd34e5fa_3 48.5 KiB conda aws-c-sdkutils
aws-checksums 0.1.18 hd34e5fa_3 47.9 KiB conda aws-checksums
aws-crt-cpp 0.26.6 h13f0230_4 215.6 KiB conda aws-crt-cpp
aws-sdk-cpp 1.11.267 h134aaec_6 3.3 MiB conda aws-sdk-cpp
azure-core-cpp 1.11.1 he231e37_1 283.9 KiB conda azure-core-cpp
azure-storage-blobs-cpp 12.10.0 h2ffa867_1 400.4 KiB conda azure-storage-blobs-cpp
azure-storage-common-cpp 12.5.0 h09a5875_4 103.7 KiB conda azure-storage-common-cpp
blosc 1.21.5 hc338f07_0 32.7 KiB conda blosc
boost 1.82.0 hf3b2ce4_6 13.7 KiB conda boost
brotli 1.1.0 hd74edd7_2 19.1 KiB conda brotli
brotli-bin 1.1.0 hd74edd7_2 16.4 KiB conda brotli-bin
bullet 3.25 hf3b2ce4_3 9.8 KiB conda bullet
bullet-cpp 3.25 py311h57524c7_3 37.4 MiB conda bullet-cpp
bzip2 1.0.8 h99b78c6_7 120 KiB conda bzip2
c-ares 1.34.4 h5505292_0 175.3 KiB conda c-ares
ca-certificates 2024.12.14 hf0a4a13_0 153.4 KiB conda ca-certificates
cairo 1.18.0 hd1e100b_0 876.9 KiB conda cairo
catkin_pkg 1.0.0 pyhd8ed1ab_1 52.1 KiB conda catkin_pkg
cffi 1.17.1 py311h3a79f62_0 281.5 KiB conda cffi
cfitsio 4.3.1 h808cd33_0 743.2 KiB conda cfitsio
cmake 3.28.3 h50fd54c_0 14.8 MiB conda cmake
colcon-argcomplete 0.3.3 pyhd8ed1ab_0 13.3 KiB conda colcon-argcomplete
colcon-bash 0.5.0 pyhd8ed1ab_0 18.6 KiB conda colcon-bash
colcon-cd 0.1.1 pyhd8ed1ab_0 11.6 KiB conda colcon-cd
colcon-cmake 0.2.28 pyhd8ed1ab_0 24.8 KiB conda colcon-cmake
colcon-common-extensions 0.3.0 py311h267d04e_2 12.7 KiB conda colcon-common-extensions
colcon-core 0.18.2 pyhd8ed1ab_0 84.3 KiB conda colcon-core
colcon-defaults 0.2.8 pyhd8ed1ab_0 14.3 KiB conda colcon-defaults
colcon-devtools 0.3.0 pyhd8ed1ab_0 14 KiB conda colcon-devtools
colcon-library-path 0.2.1 py_0 10.5 KiB conda colcon-library-path
colcon-metadata 0.2.5 py_0 17.4 KiB conda colcon-metadata
colcon-output 0.2.13 pyhd8ed1ab_0 15.8 KiB conda colcon-output
colcon-package-information 0.4.0 pyhd8ed1ab_0 17.6 KiB conda colcon-package-information
colcon-package-selection 0.2.10 py_0 15.7 KiB conda colcon-package-selection
colcon-parallel-executor 0.3.0 pyhd8ed1ab_0 14.4 KiB conda colcon-parallel-executor
colcon-pkg-config 0.1.0 py_0 10.2 KiB conda colcon-pkg-config
colcon-powershell 0.4.0 pyhd8ed1ab_0 16.3 KiB conda colcon-powershell
colcon-python-setup-py 0.2.9 pyhff2d567_0 15.5 KiB conda colcon-python-setup-py
colcon-recursive-crawl 0.2.3 pyhd8ed1ab_0 12.9 KiB conda colcon-recursive-crawl
colcon-ros 0.5.0 pyhd8ed1ab_0 23.3 KiB conda colcon-ros
colcon-test-result 0.3.8 py_0 14.4 KiB conda colcon-test-result
colcon-zsh 0.5.0 pyhd8ed1ab_0 18.4 KiB conda colcon-zsh
colorama 0.4.6 pyhd8ed1ab_1 26.4 KiB conda colorama
coloredlogs 15.0.1 pyhd8ed1ab_4 42.7 KiB conda coloredlogs
console_bridge 1.0.2 h3e96240_1 17.3 KiB conda console_bridge
contourpy 1.3.1 py311h210dab8_0 241.4 KiB conda contourpy
coverage 7.6.9 py311h4921393_0 364.1 KiB conda coverage
cppcheck 2.16.0 py311hefbd12c_0 2.2 MiB conda cppcheck
cppzmq 4.10.0 h42a7a8d_1 28.5 KiB conda cppzmq
cryptography 44.0.0 py311h8be0713_0 1.4 MiB conda cryptography
cycler 0.12.1 pyhd8ed1ab_1 13.1 KiB conda cycler
dartsim 6.13.2 h6d90f05_1 12.4 MiB conda dartsim
dav1d 1.2.1 hb547adb_0 309 KiB conda dav1d
distlib 0.3.9 pyhd8ed1ab_1 267.7 KiB conda distlib
distro 1.9.0 pyhd8ed1ab_0 41.1 KiB conda distro
docutils 0.21.2 pyhd8ed1ab_1 393.3 KiB conda docutils
double-conversion 3.3.0 h13dd4ca_0 61.7 KiB conda double-conversion
eigen 3.4.0 h1995070_0 1 MiB conda eigen
empy 3.3.4 pyh9f0ad1d_1 39.3 KiB conda empy
exceptiongroup 1.2.2 pyhd8ed1ab_1 20 KiB conda exceptiongroup
expat 2.5.0 hb7217d7_1 115.1 KiB conda expat
fcl 0.7.0 h613754d_4 1019 KiB conda fcl
ffmpeg 6.1.1 gpl_h31ea89b_104 20.5 MiB conda ffmpeg
flake8 7.1.1 pyhd8ed1ab_1 108.6 KiB conda flake8
flann 1.9.2 h4918f9b_3 1.4 MiB conda flann
fmt 10.2.1 h2ffa867_0 170.1 KiB conda fmt
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 388.1 KiB conda font-ttf-dejavu-sans-mono
font-ttf-inconsolata 3.000 h77eed37_0 94.3 KiB conda font-ttf-inconsolata
font-ttf-source-code-pro 2.038 h77eed37_0 684.4 KiB conda font-ttf-source-code-pro
font-ttf-ubuntu 0.83 h77eed37_3 1.5 MiB conda font-ttf-ubuntu
fontconfig 2.14.2 h82840c6_0 232.1 KiB conda fontconfig
fonts-conda-ecosystem 1 0 3.6 KiB conda fonts-conda-ecosystem
fonts-conda-forge 1 0 4 KiB conda fonts-conda-forge
fonttools 4.55.3 py311h4921393_0 2.7 MiB conda fonttools
foonathan-memory 0.7.2 hb7217d7_1 144.2 KiB conda foonathan-memory
freeimage 3.18.0 hd0e3f39_20 357.4 KiB conda freeimage
freetype 2.12.1 hadb7bae_2 582.5 KiB conda freetype
freexl 2.0.0 hfbad9fb_0 53.8 KiB conda freexl
fribidi 1.0.10 h27ca646_0 58.8 KiB conda fribidi
frozenlist 1.5.0 py311hae2e1ce_0 52.8 KiB conda frozenlist
gazebo 11.14.0 h129c388_8 55.7 MiB conda gazebo
gdk-pixbuf 2.42.10 hcea6d13_5 535.4 KiB conda gdk-pixbuf
geos 3.12.1 h965bd2d_0 1.3 MiB conda geos
geotiff 1.7.1 h7bcba05_15 113.5 KiB conda geotiff
gettext 0.22.5 h8414b35_3 471.9 KiB conda gettext
gettext-tools 0.22.5 h8414b35_3 2.4 MiB conda gettext-tools
giflib 5.2.2 h93a5062_0 69.9 KiB conda giflib
gl2ps 1.4.2 h17b34a0_0 69.5 KiB conda gl2ps
glew 2.1.0 h9f76cd9_2 765.4 KiB conda glew
glib 2.78.4 h1059232_0 475.9 KiB conda glib
glib-tools 2.78.4 h1059232_0 94.6 KiB conda glib-tools
gmock 1.14.0 hce30654_2 6.9 KiB conda gmock
gmp 6.3.0 h7bae524_2 356.6 KiB conda gmp
gnutls 3.7.9 hd26332c_0 1.7 MiB conda gnutls
graphite2 1.3.13 hebf3989_1003 77.9 KiB conda graphite2
graphviz 9.0.0 h3face73_1 4.4 MiB conda graphviz
gst-plugins-base 1.22.9 h09b4b5e_0 1.8 MiB conda gst-plugins-base
gstreamer 1.22.9 h551c6ff_0 1.3 MiB conda gstreamer
gtest 1.14.0 h420ef59_2 361.3 KiB conda gtest
gtk2 2.24.33 h7895bb2_4 5.9 MiB conda gtk2
gts 0.7.6 he42f4ea_4 297.2 KiB conda gts
harfbuzz 8.3.0 h8f0ba13_0 1.2 MiB conda harfbuzz
hdf4 4.2.15 h2ee6834_7 744.4 KiB conda hdf4
hdf5 1.14.3 nompi_hec07895_105 3.3 MiB conda hdf5
humanfriendly 10.0 pyh707e725_8 71.8 KiB conda humanfriendly
icu 73.2 hc8870d7_0 11.4 MiB conda icu
idna 3.10 pyhd8ed1ab_1 48.6 KiB conda idna
imath 3.1.11 h1059232_0 150.7 KiB conda imath
importlib-metadata 8.5.0 pyha770c72_1 28 KiB conda importlib-metadata
importlib_resources 6.4.5 pyhd8ed1ab_1 31.9 KiB conda importlib_resources
iniconfig 2.0.0 pyhd8ed1ab_1 11.2 KiB conda iniconfig
jasper 4.2.4 h6c4e4ef_0 569.6 KiB conda jasper
json-c 0.17 he54c16a_1 72.7 KiB conda json-c
jsoncpp 1.9.5 hc021e02_1 173 KiB conda jsoncpp
jxrlib 1.1 h93a5062_3 193.2 KiB conda jxrlib
kealib 1.5.3 h8edbb62_2 138.9 KiB conda kealib
kiwisolver 1.4.7 py311h2c37856_0 58 KiB conda kiwisolver
krb5 1.21.3 h237132a_0 1.1 MiB conda krb5
lame 3.100 h1a8c8d9_1003 516.4 KiB conda lame
lark-parser 0.12.0 pyhd8ed1ab_1 84.1 KiB conda lark-parser
lcms2 2.16 ha0e7c42_0 207 KiB conda lcms2
lerc 4.0.0 h9a09cb3_0 210.7 KiB conda lerc
libabseil 20240116.2 cxx17_h00cdb27_1 1.1 MiB conda libabseil
libaec 1.1.3 hebf3989_0 27.8 KiB conda libaec
libarchive 3.7.4 h83d404f_0 757.5 KiB conda libarchive
libasprintf 0.22.5 h8414b35_3 39.7 KiB conda libasprintf
libasprintf-devel 0.22.5 h8414b35_3 33.8 KiB conda libasprintf-devel
libass 0.17.1 hf7da4fe_1 108.2 KiB conda libass
libblas 3.9.0 26_osxarm64_openblas 16.3 KiB conda libblas
libboost 1.82.0 h72cdd8a_6 1.9 MiB conda libboost
libboost-devel 1.82.0 hf450f58_6 35.5 KiB conda libboost-devel
libboost-headers 1.82.0 hce30654_6 13.2 MiB conda libboost-headers
libboost-python 1.82.0 py311hddbb800_6 108.1 KiB conda libboost-python
libboost-python-devel 1.82.0 py311hf3b2ce4_6 17 KiB conda libboost-python-devel
libbrotlicommon 1.1.0 hd74edd7_2 66.8 KiB conda libbrotlicommon
libbrotlidec 1.1.0 hd74edd7_2 27.7 KiB conda libbrotlidec
libbrotlienc 1.1.0 hd74edd7_2 273.1 KiB conda libbrotlienc
libcblas 3.9.0 26_osxarm64_openblas 16.2 KiB conda libcblas
libccd-double 2.1 h9a09cb3_2 29.2 KiB conda libccd-double
libclang 15.0.7 default_he012953_5 131 KiB conda libclang
libclang13 15.0.7 default_h83d0a53_5 6.2 MiB conda libclang13
libcrc32c 1.1.2 hbdafb3b_0 18.3 KiB conda libcrc32c
libcurl 8.8.0 h7b6f9a7_1 361.4 KiB conda libcurl
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