Hands-On ROS for Robotics Programming

Adding a Laser Distance Sensor (LDS)

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:

1. 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