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Hi,
The virtual turtlebot has a kinect on it. Using the virtual kinect data, the virtual turtlebot could get its map using gmapping. Could the virtual kinect be changed to a virtual rplidar? If yes, how to do it? Thanks!
Yes, that's possible, you just have to add it to the URDF model and adjust your setup accordingly. A modified Turtlebot with a simulated Hokuyo UTM30-LX LIDAR mounted can be found in the hector_turtlebot repo. The LIDAR is added here in L20 of the turtlebot_sick_setup.xacro file. The simulated robot is spawned using the spawn_sick_robot_day_2014_setup.launch.
You can find that here: https://github.com/tu-darmstadt-ros-p...
Yes, but the simulated Hokuyo can be modified to reflect RPLIDAR properties (update rate, point density etc.) rather easily.
@Stefan Kohlbrecher , do you think I could simulate RPLIDAR with LMS1xx laser too? Here is the urdf of it. https://github.com/clearpathrobotics/...
You essentially just have to lower the update rate, range and angular resolution so the simulated data is consistent with what the RPLIDAR reports.
Asked: 2015-08-26 04:12:09 -0500
Seen: 2,046 times
Last updated: Aug 26 '15
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