Tips

If you have any problems with laser scan it probably means that you don’t have a dedicated graphic card (or lack appropriate drivers). If that’s the case then you’ll have to change couple of things in /rosbot_description/urdf/rosbot_gazebo file:

Find:

<!-- If you cant't use your GPU comment RpLidar using GPU and uncomment RpLidar using CPU gazebo plugin. -->

next coment RpLidar using GPU using <!– –> from <gazebo> to </gazebo> like below:

<!-- gazebo reference="rplidar">
<sensor type="gpu_ray" name="head_rplidar_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
      <scan>
      <horizontal>
      <samples>720</samples>
      <resolution>1</resolution>
      <min_angle>-3.14159265</min_angle>
      <max_angle>3.14159265</max_angle>
      </horizontal>
      </scan>
      <range>
      <min>0.2</min>
      <max>30.0</max>
      <resolution>0.01</resolution>
      </range>
      <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.01</stddev>
      </noise>
</ray>
<plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_gpu_laser.so">
      <topicName>/rosbot/laser/scan</topicName>
      <frameName>rplidar</frameName>
</plugin>
</sensor>
</gazebo -->

Now uncomment RpLidar using CPU plugin removing <!– –>.

If you want to make your laser scan visible just change:

<visualize>false</visualize>

to:

<visualize>true</visualize>

in the same plug in.