ROS_增加感測器_Hokuyo[3]：修改模擬中Turtlebot[1]

修改模擬中Turtlebot[1]
1. 在模擬環境裡讀取Hokuyo雷達的指令。
   加入turtlebot_library.urdf.xacro 中
   （位於turtlebot_description/urdf 資料夾中）最下面加入：

<xacro:include filename="$(find turtlebot_description)/urdf/sensors/hokuyo.urdf.xacro"/>

2. 加入Hokuyo在模擬環境裡，Turtlebot上的擺放位置設定。
   建立 hokuyo.urdf.xacro
   （位於turtlebot_description/urdf/sensors資料夾中）

<?xml version="1.0"?>
<!-- script_version=1.1 -->
<robot name="sensor_hokuyo" xmlns:xacro="http://ros.org/wiki/xacro">
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.urdf.xacro"/>
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro"/>

      <!-- RPLidar 2D LIDAR -->
      <xacro:macro name="sensor_hokuyo" params="parent">
        <joint name="laser" type="fixed">
          <!--origin xyz="0.10 0 0.435" rpy="0 0.0 0.0" /-->
          <origin xyz="0.0 0 0.225" rpy="0 0.0 0.0" />
          <parent link="base_link" />
            <child link="hokuyo_link" />
        </joint>

        <!-- Hokuyo Laser -->
       <link name="hokuyo_link">
         <collision>
           <origin xyz="0 0 0" rpy="0 0 0"/>
           <geometry>
         <box size="0.1 0.1 0.1"/>
           </geometry>
         </collision>

       <visual>
           <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
        <mesh filename="package://turtlebot_description/meshes/sensors/hokuyo.dae"/>
         </geometry>
       </visual>

       <inertial>
           <mass value="1e-5" />
         <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
        </inertial>
       </link>

        <!-- Set up laser gazebo details -->
        <turtlebot_sim_2dsensor/>
      </xacro:macro>
</robot>

3. 建立Hokuyo在模擬環境中的描述。
   建立hokuyo.dae
   （位於turtlebot_description/meshes/sensors資料夾中）

<?xml version="1.0"?>
<!-- script_version=1.1 -->
<robot name="sensor_hokuyo" xmlns:xacro="http://ros.org/wiki/xacro">
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.urdf.xacro"/>
      <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro"/>

      <!-- RPLidar 2D LIDAR -->
      <xacro:macro name="sensor_hokuyo" params="parent">
        <joint name="laser" type="fixed">
          <!--origin xyz="0.10 0 0.435" rpy="0 0.0 0.0" /-->
          <origin xyz="0.0 0 0.225" rpy="0 0.0 0.0" />
          <parent link="base_link" />
            <child link="hokuyo_link" />
        </joint>

        <!-- Hokuyo Laser -->
       <link name="hokuyo_link">
         <collision>
           <origin xyz="0 0 0" rpy="0 0 0"/>
           <geometry>
         <box size="0.1 0.1 0.1"/>
           </geometry>
         </collision>

       <visual>
           <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
        <mesh filename="package://turtlebot_description/meshes/sensors/hokuyo.dae"/>
         </geometry>
       </visual>

       <inertial>
           <mass value="1e-5" />
         <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
        </inertial>
       </link>

        <!-- Set up laser gazebo details -->
        <turtlebot_sim_2dsensor/>
      </xacro:macro>
</robot>