ROS Laser Scanner Controller Plugin
[Gazebo ROS Dynamic Plugins]

ROS Laser Scanner Controller Plugin. More...

Collaboration diagram for ROS Laser Scanner Controller Plugin:

Classes
class	gazebo::GazeboRosLaser
	ROS laser scan controller. More...

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Detailed Description

ROS Laser Scanner Controller Plugin.

This controller gathers range data from a simulated ray sensor, publishes range data through sensor_msgs::LaserScan ROS topic.

Example Usage:

    <model:physical name="ray_model">
      <body:empty name="ray_body_name">
        <sensor:ray name="ray_sensor">
          <origin>0.0 0.0 0.0</origin>
          <rayCount>683</rayCount>
          <rangeCount>683</rangeCount>
          <laserCount>1</laserCount>
          <displayRays>false</displayRays>
          <minAngle>-45</minAngle>
          <maxAngle> 45</maxAngle>
          <minRange>0.05</minRange>
          <maxRange>10.0</maxRange>
          <updateRate>10.0</updateRate>
          <controller:gazebo_ros_laser name="ros_ray_sensor_controller" plugin="libgazebo_ros_laser.so">
            <gaussianNoise>0.005</gaussianNoise>
            <alwaysOn>true</alwaysOn>
            <updateRate>15.0</updateRate>
            <topicName>ray_scan</topicName>
            <frameName>ray_model</frameName>
            <interface:laser name="ros_ray_sensor_iface" />
          </controller:gazebo_ros_laser>
        </sensor:ray>
      </body:empty>
    </model:phyiscal>