INTRO

This guide assumes :

1. ROS is setup properly and configured
2. Turtle bot is configured properly
3. The Hokuyo Desciption is configured properly
4. Set up Gazebo Plugin

STEPS

1. Navigate to the /turtlebot_description/robots folder
2. Create a copy of whichever file corresponds to your robot's configuration
3. Now edit that file to add the following line.

4. <sensor_hokuyo parent="base_link"/>
   

5. To specify you want to use the Hokuyo urdf you just created, run the following in the terminal:

6. export TURTLEBOT_3D_SENSOR="hokuyo"

`*Note that the Kinect will still be equipped and publishing fake laser scans on the /scan topic. To change this, modify the remap section of the launch file to remap the fake laser scans to another topic*`