The process to add the sensor is similar to what we did for the distance sensor in the previous section. Follow these steps to do it:
- We add the solid model of this sensor under the <visual> tag by following the same procedure we covered for the previous sensors. The URDF definition is as follows:
<link name="base_scan"> <visual name="sensor_body"> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gopigo3_description/meshes/TB3_lds-01.stl" scale="0.003 0.003 0.003"/> </geometry> <material name="yellow"/> </visual> <visual name="support"> <origin xyz="0 0 -0.0625" rpy="0 0 0" /> <geometry> <cylinder length="0.12" radius="0.1" /> </geometry> </visual> </link>
We can see two
