移动机器人gazebo仿真(1)—导入激光雷达
参考文章：
http://blog.csdn.net/qq_36355662/article/details/61413860
http://blog.csdn.net/qq_36355662/article/details/61616513
http://www.ncnynl.com/archives/201610/914.html
http://www.yaoguangkeji.com/a_d3O8YpEk.html
http://blog.csdn.net/changer_sun/article/details/79264388#t2
http://blog.csdn.net/zyh821351004/article/details/48846179
1、准备源码、模型
首先建立工作空间并下载源码
mkdir -p ~/gmapping_ws/src
cd ~/gmapping/src
git clone https://github.com/robopeak/rplidar_ros.git
git clone https://github.com/turtlebot/turtlebot_simulator.git
git clone https://github.com/turtlebot/turtlebot_apps.git
git clone https://github.com/turtlebot/turtlebot.git turtlebot_interactions
下载模型并放在～/.gazebo/models 路径下
cd ~/.gazebo/models
wget -q -R *index.html*,*.tar.gz --no-parent -r -x -nH http://models.gazebosim.org/hokuyo/也可下载全部模型，放到隐藏目录.gazebo下（ctrl+H显示隐藏目录）
地址：
2、修改turtlebot_world.launch
修改 STACKS 申明 ：
修改TURTLEBOT_3D_SENSOR：
修改后如下：
3、分析turtlebot_world.launch
turtlebot_world.launch 功能：
1、找到 gazebo_ros包下的empty_world.launch文件 ，作为gazebo的地图，该文件可以自行替换为自建地图
2、找到 turtlebot_gazebo包下的kobuki.launch.xml文件
3、运行
4、添加 假的激光
4、修改kobuki.launch.xml文件
找到turtlebot_gazebo包
roscd turtlebot_gazebo/找到xml文件，地址：
/home/jk/gmapping_ws/src/turtlebot_simulator/turtlebot_gazebo/launch/includes修改xml文件如下：
3.修改kobuki_hexagons_hokuyo.urdf.xacro
新建文件：
roscd turtlebot_description/robots/
sudo vi kobuki_hexagons_hokuyo.urdf.xacro内容：
注意这两处有修改（删除了原先的turtlebot_common_library,加入了以下内容）
4.修改turtlebot_library.urdf.xacro
找到路径：roscd turtlebot_description/urdf/
gedit turtlebot_library.urdf.xacro
5.添加hokuyo的.urdf.xacro文件
roscd turtlebot_description/urdf/sensors/
gedit hokuyo.urdf.xacro编辑文件内容如下：
这里有一步：
需要将路径：/home/jk/.gazebo/models/hokuyo/meshes 中的hokuyo_convex.stl 和 hokuyo.dae复制到
/home/jk/gmapping_ws/src/turtlebot/turtlebot_description/meshes/sensors 下
6.配置turtlebot_gazebo.urdf.xacro添加laser
roscd turtlebot_description/urdf/
gedit turtlebot_gazebo.urdf.xacro
true
20.0
${60.0*M_PI/180.0}
R8G8B8
640
480
0.05
8.0
camera
true
10
rgb/image_raw
depth/image_raw
depth/points
rgb/camera_info
depth/camera_info
camera_depth_optical_frame
0.1
0.0
0.0
0.0
0.0
0.0
0.4
0 0 0 0 0 0
false
40
720
1
-1.570796
1.570796
0.10
30.0
0.01
gaussian
0.0
0.01
scan
hokuyo_link
此处注意hokuyo_link部件名称和前边的hokuyo_link对应，才能仿真处实际传感器数据。此处数据发布在/turtlebot/laser/scan主题上。
7、修改环境变量
sudo gedit .bashrc#在最后添加以下内容
#For gazebo
export TURTLEBOT_BASE=kobuki
export TURTLEBOT_STACKS=hexagons
export TURTLEBOT_3D_SENSOR=hokuyo之后运行，正常，激光有数据，话题/scan正常
roslaunch turtlebot_gazebo explorer.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch