Adding URDF file for VLP-16 into Gazebo
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I want to simulate an algorithm we wrote in Gazebo. The base robot I am using is the clearpath Husky. And, I need to put a Velodyne VLP-16 Lidar on it to extract the point clouds. The way I am going about it is trying to make my own custom world and launching the Husky launch file which spawns the Husky in a custom world. I just want to know what would be the best way to put the lidar on top of the husky? Can I just modify the world file? Or will I need to change the clearpath file? I downloaded the velodyne_simulator package from Velodyne and it comes with a VLP-16.urdf.xacro. Is there anyway I can use that? Any help would be appreciated. Thanks
I am also confused about how to add a lidar on top of any robot, especially it being a mobile manipulator arm, please answer if you know a good turtorial on how to do this exactly.