Hands-On ROS for Robotics Programming

Simulating the distance sensor

This test includes both the distance sensor and the two-dimensional camera. Run the example by using four Terminals, as indicated in the following code:

T1 $ roslaunch virtual_slam gopigo3_basic_world.launchT2 $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_velT3 $ rostopic echo /gopigo/distance_sensorT4 $ rosrun image_view image_view image:=/gopigo/camera1/image_raw

The following screenshot is a composed view of the result you should obtain:

In the preceding screenshot, you can find the following components:

• The central window is the Gazebo one, where you can see GoPiGo3, an obstacle, and the rays of the distance ...