I'm new at gazebo, and I would like to know how to put a hokuyo sensor on my p2os model. I am not using a real robot, I just want to know how to add a sensor on my simulation. Thanks!
Originally posted by Mendelson on ROS Answers with karma: 73 on 2012-09-27
Post score: 0
Comment by allenh1 on 2015-07-07:
Are you using P2OS or are you using ROSARIA?
Or just create a laser link and add something similar to this:
<link name="laser_scan_link" type="laser">
<inertial>
<mass value="0.5" />
<origin xyz="0 0 0" />
<inertia ixx="0.3" ixy="0.3" ixz="0.3" iyy="0.3" iyz="0.3" izz="0.3" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
</link>
<joint name="laser_to_base_link" type="fixed">
<origin xyz="0.25 0 0.32" rpy="0 0 0" />
<parent link="base_link" />
<child link="laser_scan_link"/>
</joint>
<gazebo reference="laser_scan_link">
<sensor:ray name="laser_scan_link">
<rayCount>683</rayCount>
<rangeCount>683</rangeCount>
<laserCount>1</laserCount>
<origin>0.0 0.0 0.0</origin>
<displayRays>true</displayRays>
<minAngle>-105</minAngle>
<maxAngle>105</maxAngle>
<minRange>0.06</minRange>
<maxRange>4.0</maxRange>
<resRange>0.01</resRange>
<updateRate>10.0</updateRate>
<controller:gazebo_ros_laser name="gazebo_ros_base_scan_link_controller" plugin="libgazebo_ros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20.0</updateRate>
<topicName>base_scan/scan</topicName>
<frameName>laser_scan_link</frameName>
<interface:laser name="gazebo_ros_base_scan_link_iface"/>
</controller:gazebo_ros_laser>
</sensor:ray>
</gazebo>
<gazebo>
<controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
</controller:gazebo_ros_controller_manager>
</gazebo>
Originally posted by Peter Listov with karma: 338 on 2012-09-29
This answer was ACCEPTED on the original site
Post score: 2
Comment by Vegeta on 2012-10-18:
@Peter Listov I got interested with this answer, can you give a suggestion into how to add a hokuyo laser to the turtlebot. I am new to ros. Can you tell me where do I have to put the code.
For this you will first need to understand how urdf works and John has written great tutorials for that http://ros.org/wiki/urdf/Tutorials (section 1 and 2). Then you will need to understand the Gazebo extensions for URDF (http://ros.org/wiki/urdf/Tutorials/UnderstandingPR2URDFGazeboExtension) and finally here is also an example of how to add the actual sensor: http://ros.org/wiki/urdf/Tutorials/AddingSensorsToPR2.
For the insertion of the hokuyo specifically you can check how it is being done for turtlebot: Sensor description: https://kforge.ros.org/turtlebot/turtlebot/file/fb8354a98ac5/turtlebot_description/urdf/gazebo.urdf.xacro (turtlebot_sim_laser) Sensor insertion into robot's urdf: https://kforge.ros.org/turtlebot/turtlebot/file/fb8354a98ac5/turtlebot_description/urdf/turtlebot_body.urdf.xacro (laser_joint)
Please also note that this shall probably be asked on http://answers.gazebosim.org/questions/.
D.
Originally posted by dejanpan with karma: 1420 on 2012-09-27
This answer was NOT ACCEPTED on the original site
Post score: 3