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:


<!-- 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>
<plugin name="gazebo_ros_head_rplidar_controller" filename="">
</gazebo -->

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

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




in the same plug in.