hello! I am newbie trying to learn ROS and Gazebo. I am trying to simulate iRobot create with hokuyo laser sensor. Everything is working fine except that during simulation topic to publish my laser scan data into gazebo is not generated. I reckon that the plugin does not run but I am not sure about it. I am using the xacro for laser sensor for erratic robot to simulate mine.

The attached code is

<?xml version="1.0"?>

<robot
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

    <macro name="erratic_hokuyo_laser" params="parent *origin">
        <joint name="laser_base_mount_joint" type="fixed">
            <insert_block name="origin" /> 
            <parent link="${parent}"/>
            <child link="laser_base_link"/>
        </joint>

        <link name="laser_base_link" type="fixed">
            <inertial>
                <mass value="0.1"/>
                <origin xyz="0 0 0.0"/>
                <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
            </inertial>

            <visual>
                <origin rpy="0 0 0" xyz="0 0 0.025"/>
                <geometry>
                    <box size="0.05 0.05 0.05"/>
                </geometry>
            </visual>

            <collision>
                <origin rpy="0 0 0" xyz="0 0 0.025"/>
                <geometry>
                    <box size="0.05 0.05 0.05"/>
                </geometry>
            </collision>
        </link>

        <joint name="base_scan_joint" type="fixed" >
            <origin xyz="0 0 0.05" rpy="0 0 0" />
            <parent link="laser_base_link" />
            <child link="base_scan_link"/>
        </joint>

        <link name="base_scan_link" type="laser">
            <inertial>
                <mass value="0.1"/>
                <origin xyz="0 0 0.0"/>
                <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
            </inertial>

            <visual>
                <origin rpy="0 0 0" xyz="0 0 0.014"/>
                <geometry>
                    <cylinder radius="0.0229" length="0.028"/>
                </geometry>
            </visual>

            <collision>
                <origin rpy="0 0 0" xyz="0 0 0.014"/>
                <geometry>
                    <cylinder radius="0.0229" length="0.028"/>
                </geometry>
            </collision>
        </link>

        <gazebo reference="turtlebot_hardware">
            <sensor:ray name="laser">
                <rayCount>683</rayCount>
                <rangeCount>683</rangeCount>
                <laserCount>1</laserCount>

                <origin>0.0 0.0 0.0</origin>
                <displayRays>false</displayRays>

                <minAngle>-135</minAngle>
                <maxAngle> 135</maxAngle>

                <minRange>0.06</minRange>
                <maxRange>4.0</maxRange>
                <resRange>0.001</resRange>
                <updateRate>10.0</updateRate>

              <controller:gazebo_ros_laser name="gazebo_ros_base_scan_link_controller" plugin="libgazebo_ros_laser.so">
                    <gaussianNoise>0.005</gaussianNoise>
                    <alwaysOn>true</alwaysOn>
                    <updateRate>10.0</updateRate>
                    <topicName>/scan</topicName>
                    <frameName>base_scan_link</frameName>
                    <interface:laser name="gazebo_ros_base_scan_link_iface"/>
                </controller:gazebo_ros_laser>
            </sensor:ray> 

        </gazebo>

        <gazebo reference="laser_base_link">
            <material>Erratic/Grey</material>
        </gazebo>

        <gazebo reference="base_scan_link">
            <material>Erratic/Black</material>
        </gazebo>
    </macro>
</robot>

Any help will be appreciated. Regards