Description

Here we are setting up Lidar for the turtlebot although it is not officially support. We got some functionality but not enough for it to be used. Maybe you could expand upon it and solve the issues!

INTRO

This guide assumes :

1. ROS is setup properly and configured
2. Configure Turtle bot properly

STEPS

Creating a Hokuyo Description

1. Create a new file in/turtlebot_testing/urdf/sensors called hokuyo.urdf.xacro

2. Inside this file paste this code into it

   1. <?xml version="1.0"?>
      <robot name="sensor_hokuyo" xmlns:xacro="http://ros.org/wiki/xacro">
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.urdf.xacro"/>
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro"/>
      
      <!-- Hokuyo 2D LIDAR -->
      <xacro:macro name="sensor_hokuyo" params="parent">
      <joint name="laser" type="fixed">
      <origin xyz="0.15 0.0 0.360" rpy="3.14159 0.0 0.0" />
      <parent link="base_link" />
      <child link="base_laser_link" />
      </joint>
      
      <link name="base_laser_link">
      <visual>
      <geometry>
      <box size="0.00 0.05 0.06" />
      </geometry>
      <material name="Green" />
      </visual>
      <inertial>
      <mass value="0.000001" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
      iyy="0.0001" iyz="0.0"
      izz="0.0001" />
      </inertial>
      </link>
      
      <!-- Set up laser gazebo details -->
      <hokuyo_laser />
      </xacro:macro>
      </robot>
      

      There is a chance that an error may occur, and to bypass this we changed

      ` to

      `This is mostly taken from the iRoboApp Wiki, with some slight modifications. We create a macro named "sensor_hokuyo" that specifies all of the necessary information for the laser joint and link. The only major change is our call to the hokuyo_laser macro just before the closing tag.