O'Reilly logo

Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

Publishing sensor information

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: sensor_msgs/LaserScan or sensor_msgs/PointCloud.

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 base_scan/scan frame.

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, ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required