rosbot_description
URDF model for Gazebo integrated with ROS.
1. Using the package.
Description of the available .sh file:
run_gazebo.sh - Killing all gzserver, gzclient, rviz, roscore and rosmaster processes.
Runnig gazebo with ROSbot model and operating environment are defined in /rosbot_gazebo/launch/rosbot_world.launch.
run_rviz.sh - Runnig launch file runnig Rviz with implemented parameters.
run_nav.sh - Runnig launch file with already created map and "move base" node.
run_teleop.sh - Runnig teleop_twist_keyboard to allow control of the robot.
2. Tips.
If you have any problems with laser scan it probably means that you don't have a dedicated graphic card (or lack appropriate drivers). If that's the case then you'll have to change couple of things in /rosbot_description/urdf/rosbot_gazebo file:
Find: <!-- If you cant't use your GPU comment RpLidar using GPU and uncomment RpLidar using CPU gazebo plugin. -->
next coment RpLidar using GPU using <!-- --> from <gazebo> to </gazebo> like below:
<!-- gazebo reference="rplidar">
<sensor type="gpu_ray" name="head_rplidar_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-3.14159265</min_angle>
<max_angle>3.14159265</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>/rosbot/laser/scan</topicName>
<frameName>rplidar</frameName>
</plugin>
</sensor>
</gazebo -->
Now uncomment RpLidar using CPU plugin removing <!-- -->.
If you want to make your laser scan visible just change:
<visualize>false</visualize>
to:
<visualize>true</visualize>
in the same plug in.