Your robot can have a lot of sensors to see the world; you can program a lot of nodes to take these data and do something, but the navigation stack is prepared only to use the planar laser's sensor. So, your sensor must publish the data with one of these types:
We are going to use the laser located in front of the robot to navigate in Gazebo. Remember that this laser is simulated on Gazebo, and it publishes data on the
In our case, we do not need to configure anything of our laser to use it on the navigation stack. This is because we have
tf configured in the
.urdf file, and the laser is publishing data with the correct type.
If you use a real laser, ...