Hands-On ROS for Robotics Programming

Simulating the LDS

After including the LDS model in the virtual robot, we can proceed to see how it works by running the simulation in Gazebo:

1. Execute the following commands in separate Terminals to see the sensor in action:

T1 $ roslaunch virtual_slam gopigo3_world.launchT2 $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_velT3 $ rostopic echo /gopigo/scan

In T3, you will see a large feed of data, since each LaserScan message contains 720 points to cover the 360° view around the sensor.

2. To test this sensor, it is better to use a Python script that makes the robot wander in the environment while avoiding the obstacles. To do this, we have implemented the following rules in our script:

• • If there is no obstacle, move forward at a reference ...