Using

How to insert on your xacro

How to insert it on your xacro.

First lets supose you have a link called my_link as showed down here:

<link name="my_link">
    <inertial>
        <mass value="0.01"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="0.01" ixy="0.001" ixz="0.001" iyy="0.01" iyz="0.001" izz="0.01"/>
        </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="0 ${pi/2} 0"/>
        <geometry>
            <cylinder length="0.2" radius="0.1"/>
        </geometry>
    </visual>
    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.001 0.001 0.001"/>
        </geometry>
    </collision>
</link>

Then you need to do two main things:

• Set the gazebo reference as this link or some link on your robot:

  <gazebo reference="my_link">

• Set the link reference as this link:

  <link_reference>my_link</link_reference>

  Then you should have something like that:

    <gazebo reference="my_link">
  
        <sensor name='my_sonar' type='camera'>
  
            <plugin name="my_sonar_controller" filename="libFowardLookingGazeboSonar.so" >
                <topic>my_model/FLSonar</topic>
                <debug>1</debug>
                <link_reference>my_link</link_reference>
                <horizontal_fov>${pi/2}</horizontal_fov>
                <vfov>${pi/4}</vfov>
                <bin_count>720</bin_count>
                <beam_count>720</beam_count>
                <image>
                    <width>720</width>
                    <height>720</height>
                    <format>R32G32B32</format>
                </image>
                <clip>
                    <near>0.1</near>
                    <far>5</far>
                </clip>
                <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.1</stddev>
                </noise>
            </plugin>  
        </sensor>  
  
    </gazebo>