gedit ~/.bashrc

• paste the following at the end of the file:

source /opt/ros/melodic/setup.bashsource /home/admin/catkin_ws/devel/setup.bash

• save and close the file

• Go to gazebo-tutorials-velodyne-master/velodyne_plugin/build

• Inside build open a terminal and type the following commands

cmake ../

make

export GAZEBO_PLUGIN_PATH=$HOME/gazebo-tutorials-velodyne-master/velodyne_plugin /build:$GAZEBO_PLUGIN_PATH

• open 5 terminals (you can have one terminal with multiple tabs)

  • tab1:

    roscore

  • tab2:

  roslaunch gazebo_ros emptry_world.launch can also try

  rosrun gazebo_ros gazebo

  • tab3 (sensor plugin):

    rosrun gazebo_plugins hokuyo_node

  • tab4 (our node):

  rosrun pkg1 hokuyoSub.py

  • tab5 (to visualize nodes and topics):

  rosrun rqt_graph rqt_graph

  • tab6 (to see all topics):

    rostopic list

  • tab7 (to publish to a topic manually eg.: /my_robot/vel_cmd is the topic name):

  rostopic pub /my_robot/vel_cmd std_msgs/Float32 1.0

Some useful links:

• Creating a workspace: http://wiki.ros.org/catkin/Tutorials/create_a_workspace

• Creating Packages http://wiki.ros.org/catkin/Tutorials/CreatingPackage

• Simulating Roomba on Gazebo http://guitarpenguin.is-programmer.com/posts/58100.html

• Building the model http://gazebosim.org/tutorials?tut=build_robot&cat=build_robot

• Attaching the mesh http://gazebosim.org/tutorials/?tut=attach_meshes