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Lidar in simulation

asked 2012-12-18 19:56:50 -0600

Rookiebot gravatar image

updated 2014-01-28 17:14:37 -0600

ngrennan gravatar image

Hi. Let's say that I want to add a Lidar sensor (eg. Velodyne 3D) on a robot_description, in simulation. What plugin should I use? My guess is I should use a laser plugin (eg. Libgazebo_ros_laser.so), is that right?

In addition, what is the normal usage of Lidar's data? By this I mean do I use the laserscan directly as input to other nodes like gmapping? Or do I need to first convert laserscan to pointcloud2 or other forms like odom?

Thanks in advance!

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answered 2012-12-19 17:38:06 -0600

JonW gravatar image

I would suggest looking at the file urdf/gazebo.urdf.xacro in turtlebot_description. The section beginning

xacro:macro name="turtlebot_sim_laser"

contains a description that creates a lidar sensor on the robot. Gmapping expects laser scans and odometry as input, so the output of this sensor should work directly.

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Thanks! I will take a look at the URDF you mentioned.

Rookiebot gravatar imageRookiebot ( 2012-12-20 17:39:46 -0600 )edit

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Asked: 2012-12-18 19:56:50 -0600

Seen: 1,496 times

Last updated: Dec 19 '12