turtlebot_lidar

ROS Kinetic package for adding a 2D Lidar into the Gazebo simulation of a Turtlebot 2 robot.

The simulated robot includes a Kobuki base, an Orbec Astra RGBD camera and a Hokuyo or RPLidar A2M8 Lidar

Turtlebot 2 with Hokuyo Lidar	Turtlebot 2 with RPLidar A2M8

Installation

Clone the package into your catkin workspace:

cd [catkin_workspace]/src
git clone https://github.com/diegomrt/turtlebot_lidar.git
cd ..
catkin_make
source devel/setup.bash

Usage

Turtlebot 2 with Hokuyo Lidar

After installing, to launch the version with Hokuyo lidar, run:

roslaunch turtlebot_lidar turtlebot_hokuyo.launch  

The simulated characteristics of the Hokuyo lidar are:

• Min range: 10 cm
• Max range: 30 m
• Min angle: -90º
• Max angle: +90º
• Samples: 720
• Freq: 40 Hz

Turtlebot 2 with RPLidar A2M8

After installing, to launch the version with RPLidar A2, run:

roslaunch turtlebot_lidar turtlebot_rplidar.launch  

The simulated characteristics of the RPLidar A2M8 lidar are:

• Min range: 15 cm
• Max range: 8 m
• Min angle: -180º
• Max angle: +180º
• Samples: 400 (0.9º/sample)
• Freq: 10 Hz (4000 samples/s)