Robot Operating System Cookbook

Integrating sensors

We have learned how to simulate the physics of the robot and its motion, and we can also simulate the sensors in Gazebo.

Usually, in order to simulate the sensors, we need to implement their physical behavior. In other words, it is required that we design the mathematical model of the sensors.

In this section, we will discuss how to add a camera and a laser sensor to the mobile robot model we designed previously. Since these sensors are new elements of the robot model, first of all, we have to decide where to install them. In the preceding screenshot, you may have noticed a new 3D gadget that looks like a Hokuyo laser, and a red cube which will be the camera in Gazebo.

We will use the laser simulation plugin from the ...