ROS-Melodic在Gazebo仿真环境为Turtlebot添加Hokuyo激光雷达并运行gmapping

上一篇教程：ROS-Melodic下 Gazebo+Turtlebot安装

ROS-Melodic下为Turtlebot添加hokuyo激光雷达教程

参考教程
https://blog.csdn.net/qq_36355662/article/details/61413860
https://blog.csdn.net/qq_36355662/article/details/61616513
https://blog.csdn.net/weixin_37058227/article/details/79430485

a. 修改turtlebot_world.launch文件

路径：/home/robotics/turtlebot_ws/src/turtlebot_simulator/turtlebot_gazebo/launch

将文件内容改为如下所示：

<launch>
  <arg name="gui"        default="true"/>
  <arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

  <arg name="base"       value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
  <arg name="battery"    value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
  <arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
  <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR KinectHokuyo)"/>  <!-- kinect, asus_xtion_pro -->

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>

  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
  </include>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

  <!-- Fake laser -->
  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="camera_depth_frame"/>
    <param name="range_min" value="0.45"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>
  </node>
</launch>

b. 修改kobuki.launch.xml文件

路径：/home/robotics/turtlebot_ws/src/turtlebot_simulator/turtlebot_gazebo/launch/includes

将文件内容改为如下所示：

<launch>
  <arg name="base"/>
  <arg name="stacks"/>
  <arg name="3d_sensor"/>
  
  <arg name="urdf_file"