Introduction

Player is a robot control framework, please visit their website for more information.

This tutorial covers connecting the laser Player interfaces to Gazebo.

Create a working directory

cd; mkdir gazebo_laser; cd gazebo_laser

Player Config

Copy the config script below into a file called laser.cfg. The following script is also accessible via this link.

driver
(
  name "gazebo"
  provides ["simulation:0"]
  plugin "libgazebo_player"

  # The name of a running Gazebo world, specified in a .world file
  world_name "default"
)

driver
(
  name "gazebo"
  provides ["laser:0"]

  # This name must match a scoped name of a sensor in the "default" world
  # The format of a scoped name is "model_name::link_name::sensor_name"
  laser_name "pioneer2dx::hokuyo::link::laser"
)

Run

Run Gazebo

gazebo worlds/pioneer2dx_laser.world

Run Player

player laser.cfg

Run playerv

playerv

You can now visualize the laser inside playerv.