ROS学习第三十八节——雷达信息仿真以及显示

https://download.youkuaiyun.com/download/qq_45685327/87720130

1 .新建 Xacro 文件，配置雷达传感器信息

laser.xacro

<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">

  <gazebo reference="laser">
    <sensor type="ray" name="rplidar">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>5.5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>-3</min_angle>
            <max_angle>3</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</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_rplidar" filename="libgazebo_ros_laser.so">
        <topicName>/scan</topicName>
        <frameName>laser</frameName>
      </plugin>
    </sensor>
  </gazebo>

</robot>

2.xacro 文件集成

deamo05_Gazebocar.xacro

<robot name="xacrocar" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="head.xacro" />
    <xacro:include filename="deamo02_base.xacro" />
    <xacro:include filename="deamo03_camera.xacro" />
    <xacro:include filename="deamo04_laser.xacro" />
     <xacro:include filename="gazebo/move.xacro" />
      <xacro:include filename="gazebo/laser.xacro" />
</robot>

3.运行查看结果

运行lanuch文件，这里不需要重新编写launch，用上一节的就可以。

deamo03_car_world.launch

source ./devel/setup.bash
roslaunch urdf02_gazebo deamo03_car_world.launch

 运行rviz

roslaunch urdf02_gazebo deamo04_sensors.launch

打开rviz以后，新建一个雷达的显示插件

观看效果