ROS教程 Gazebo仿真(2)-激光雷达

接上一篇

ROS教程 Gazebo仿真(1)–ros_control两轮差速控制
https://blog.csdn.net/weixin_43928944/article/details/115899503

配置激光雷达

laser_sensors.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

  <!-- 雷达 -->
  <gazebo reference="laser">
    <sensor type="ray" name="rplidar">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>5.5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>-3</min_angle>
            <max_angle>3</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
        <topicName>/scan</topicName>
        <frameName>laser</frameName>
      </plugin>
    </sensor>
  </gazebo>

</robot>

robt_car.xacro

<robot name="robot_car" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="inertia.xacro" />    
    <xacro:include filename="robot_base.xacro" />
    <xacro:include filename="camera.xacro" />
    <xacro:include filename="laser.xacro" />

    <xacro:include filename="gazebo/move.xacro" />
    <xacro:include filename="gazebo/laser_sensors.xacro" />
</robot>

rviz launch

unch>
    <param name="robot_description" command="$(find xacro)/xacro $(find robot_description)/urdf/robot_car.xacro" />

    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find robot_description)/config/car.rviz" />
    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" output="screen" />

</launch>

启动rviz的launch Add添加LaserScan 将Topic修改为/scan 配置完成。