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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 gazebo_ros empty_world.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/set_link_state
/gazebo/set_model_state
/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

  <sensor name="laser" type="ray">
        <pose>0.01 0 0.0175 0 -0 0</pose>
    <topic>~/laser_scan</topic>
        <ray>
          <scan>
            <horizontal>
              <samples>640</samples>
              <resolution>1</resolution>
              <min_angle>-2.26889</min_angle>
              <max_angle>2.268899</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.08</min>
            <max>10</max>
            <resolution>0.01</resolution>
          </range>
        </ray>

        <plugin name="laser" filename="libRayPlugin.so" />
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>true</visualize>
      </sensor>

I tried different topics such as /laser_scan, laser_scan. Am I missing something?

BR & and thanks for any help