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I am trying to use the Hokuyo Laser scanner on my mobile robot using ROS Kinetic and it does NOT detect any object in it's field of vision.

I added the following code snippet in my .xacro file

<joint name="hokuyo_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz=".15 0 .1" rpy="0 0 0"/>
<parent link="chassis"/>
<child link="hokuyo"/>
</joint>

<!-- Hokuyo Laser -->
<link name="hokuyo">
<collision>
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <geometry>
<box size="0.1 0.1 0.1"/>
  </geometry>
</collision>

<visual>
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <geometry>
    <mesh filename="package://mybot_description/meshes/hokuyo.dae"/>
  </geometry>
</visual>

<inertial>
  <mass value="1e-5" />
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>

and the following code snippet in my .gazebo file.

<!-- hokuyo -->
  <gazebo reference="hokuyo">
    <sensor type="gpu_ray" name="head_hokuyo_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>40</update_rate>
   <ray>
    <scan>
      <horizontal>
        <samples>720</samples>
        <resolution>1</resolution>
        <min_angle>-1.570796</min_angle>
        <max_angle>1.570796</max_angle>
      </horizontal>
    </scan>
    <range>
      <min>0.10</min>
      <max>30.0</max>
      <resolution>0.01</resolution>
    </range>
    <noise>
      <type>gaussian</type>
      <!-- Noise parameters based on published spec for Hokuyo laser
           achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
           stddev of 0.01m will put 99.7% of samples within 0.03m of the true
           reading. -->
      <mean>0.0</mean>
      <stddev>0.01</stddev>
    </noise>
  </ray>
  <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
    <topicName>/mybot/laser/scan</topicName>
    <frameName>hokuyo</frameName>
  </plugin>
</sensor>
</gazebo>

I have created a hokuyo.dae file as well. I will post that if needed, however the issue is that the laser scanner is not detecting any object in it's field of vision. Where is the problem?

The following picture says it all.

Hi, I am trying to install the ROSAria package in my ROS Kinetic using the following tutorial. While building my package using catkin_make, I get the following error: From what I understand, it is throwing an error because it cannot find -lAria. Please help.

Base path: /home/jugesh/catkin_ws
Source space: /home/jugesh/catkin_ws/src
Build space: /home/jugesh/catkin_ws/build
Devel space: /home/jugesh/catkin_ws/devel
Install space: /home/jugesh/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/jugesh/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/jugesh/catkin_ws/build"
####
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target geometry_msgs_generate_messages_lisp
[ 13%] Built target listener
[ 26%] Built target talker
[ 26%] Built target geometry_msgs_generate_messages_nodejs
[ 26%] Built target geometry_msgs_generate_messages_eus
[ 26%] Built target std_msgs_generate_messages_cpp
[ 26%] Built target geometry_msgs_generate_messages_cpp
[ 26%] Built target std_msgs_generate_messages_py
[ 26%] Built target geometry_msgs_generate_messages_py
[ 33%] Built target rosaria_gencfg
[ 33%] Built target _rosaria_generate_messages_check_deps_BumperState
[ 40%] Built target rosaria_generate_messages_nodejs
[ 46%] Built target rosaria_generate_messages_cpp
[ 53%] Built target rosaria_generate_messages_lisp
[ 66%] Built target rosaria_generate_messages_py
[ 80%] Built target rosaria_generate_messages_eus
[ 80%] Built target rosaria_gencpp
[ 80%] Built target rosaria_generate_messages
[ 86%] Linking CXX executable /home/jugesh/catkin_ws/devel/lib/rosaria/RosAria
/usr/bin/ld: skipping incompatible /usr/local/Aria/lib/libAria.so when searching for -lAria
/usr/bin/ld: cannot find -lAria
collect2: error: ld returned 1 exit status
rosaria/CMakeFiles/RosAria.dir/build.make:152: recipe for target '/home/jugesh/catkin_ws/devel/lib/rosaria/RosAria' failed
make[2]: *** [/home/jugesh/catkin_ws/devel/lib/rosaria/RosAria] Error 1
CMakeFiles/Makefile2:2727: recipe for target 'rosaria/CMakeFiles/RosAria.dir/all' failed
make[1]: *** [rosaria/CMakeFiles/RosAria.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed