移动机器人gazebo仿真(1)—导入激光雷达

参考文章：

http://blog.csdn.net/qq_36355662/article/details/61413860

http://blog.csdn.net/qq_36355662/article/details/61616513

http://www.ncnynl.com/archives/201610/914.html

http://www.yaoguangkeji.com/a_d3O8YpEk.html

http://blog.csdn.net/changer_sun/article/details/79264388#t2

http://blog.csdn.net/zyh821351004/article/details/48846179

1、准备源码、模型

首先建立工作空间并下载源码

mkdir -p ~/gmapping_ws/src  
cd ~/gmapping/src 
git clone https://github.com/robopeak/rplidar_ros.git  
git clone https://github.com/turtlebot/turtlebot_simulator.git  
git clone https://github.com/turtlebot/turtlebot_apps.git 
git clone https://github.com/turtlebot/turtlebot.git  

turtlebot_interactions

下载模型并放在～/.gazebo/models 路径下

cd ~/.gazebo/models
wget -q -R *index.html*,*.tar.gz --no-parent -r -x -nH http://models.gazebosim.org/hokuyo/

也可下载全部模型，放到隐藏目录.gazebo下（ctrl+H显示隐藏目录）

地址：

2、修改turtlebot_world.launch

修改 STACKS 申明 ：

<arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/>

修改TURTLEBOT_3D_SENSOR：

<arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR hokuyo)"/>

修改后如下：

<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="stacks"     value="$(optenv TURTLEBOT_STACKS nostack)"/-->

  <!--arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/-->  <!-- kinect, asus_xtion_pro -->
  <!--arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR rplidar)"/--> <!-- 修改   -->
  <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR hokuyo)"/>

  <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="stacks" default="nostack"/-->
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
    <!--arg name="3d_sensor" default="rplidar"/-->
  </include>