Adding a Hokuyo Laser to steer bot URDF

[luka-medv]

I'm having a strange problem with adding the laser sensor; The sensor works in gazebo, but not in rviz (frame error). The same code adding the laser joint and link to base_link works in pretty much any other robot with minor adjustements, but not on steer_bot.

http://gazebosim.org/tutorials?tut=ros_gzplugins#GPULaser

[srmainwaring]

@luka-medv I have not looked into adding other sensors to this rover - it was intended as a worked example to answer a question about Ackermann steering someone posted in another repo of mine and I hadn't planned to take it further (although I have used the basic model to test some ArduPilot Lua scripts in simulation which replace all the ROS control code).

If you are prepared to fork the repo and create a branch containing the modified URDF with the sensor I can take a look at why it might not be working.

[zthanxx]

Hello I have some problem when implementing Laser plugin. When the robot turning the laser point cloud also move. So it detect the wrong pose. I think it's happen because of wrong odometry calculation. Could you solve this problem ?