以sumit_xl模型为例
$ cd ~/catkin_ws/src
$ git clone https://[email protected]/theconstructcore/summit_xl.git -b kinetic
$ cd ..
$ catkin_make下载Velodyne_description工具包或者直接sudo apt-get install ros-kinetic-velodyne-*
修改summit_xl_omni.urdf.xacro文件,添加多线雷达模型
16线激光雷达或32线激光雷达
<!-- VLP-16 -->
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<VLP-16 parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="1024" gpu="false" lasers="16" max_range="100">
<origin xyz="0 0 0.5" rpy="0 0 0" />
</VLP-16> <!-- VHDL-32E -->
<xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
<HDL-32E parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="1024" gpu="false">
<origin xyz="0 0 0.5" rpy="0 0 0" />
</HDL-32E> 运行launch文件
roslaunch summit_xl_gazebo summit_xl_omni.launch
