ROS Kinetic package for adding a 2D Lidar into the Gazebo simulation of a Turtlebot 2 robot.
The simulated robot includes a Kobuki base, an Orbec Astra RGBD camera and a Hokuyo or RPLidar A2M8 Lidar
Turtlebot 2 with Hokuyo Lidar | Turtlebot 2 with RPLidar A2M8 |
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Clone the package into your catkin workspace:
cd [catkin_workspace]/src
git clone https://github.com/diegomrt/turtlebot_lidar.git
cd ..
catkin_make
source devel/setup.bash
After installing, to launch the version with Hokuyo lidar, run:
roslaunch turtlebot_lidar turtlebot_hokuyo.launch
The simulated characteristics of the Hokuyo lidar are:
- Min range: 10 cm
- Max range: 30 m
- Min angle: -90º
- Max angle: +90º
- Samples: 720
- Freq: 40 Hz
After installing, to launch the version with RPLidar A2, run:
roslaunch turtlebot_lidar turtlebot_rplidar.launch
The simulated characteristics of the RPLidar A2M8 lidar are:
- Min range: 15 cm
- Max range: 8 m
- Min angle: -180º
- Max angle: +180º
- Samples: 400 (0.9º/sample)
- Freq: 10 Hz (4000 samples/s)