Not able to Publish hokuyo data in ROS
Hello,
I would like to publish laser scans, that are performed by e.g the Hokuyo Model in Gazebo to ROS. I have tried this with Fuerte and Hydro without success.
I used this materials: Gazebo 1.9 ROS Hydro Ubuntu 12.04
I then started Gazebo with this command
roslaunch gazeboros emptyworld.launch
This then gives me these topics in ROS
rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/setlinkstate
/gazebo/setmodelstate
/rosout
/rosout_agg
In Gazebo I added the Hokuyo model which is already included. I can see the scanarea indicated in blue. I can'T see any new topic in ROS. I can see in the model.sdf that it uses the libRayPlugin.so Plugin. Furthermore I noticed that a topic tag is missing inside the sensor tag. I added one. Still no publishing.Thas how the sensor section model.sdf of the Hokuyo looks like
<plugin name="laser" filename="libRayPlugin.so" />
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
How should I solve it? Thank You