fls_model_standalone

Tutorial: FLS Standalone Model

In this example we will create a fls_gazebo ROS package that includes a Gazebo model of a Blueview P900 forward looking sonar. See creating new models for generic past instructions on creating models.

Creating a ROS package and a new model

Create the model by creating a fls_gazebo/models/blueview_P900 directory with the following:

• model.config
• model.sdf
• meshes/p900.dae

Make sure you have the <export> tags completed int he package.xml file so that the models are available to Gazebo.

Run Gazebo with roslaunch so that Gazebo is aware of the models in the ROS package. (Just running gazebo doesn't add the correct model path.)

roslaunch gazebo_ros empty_world.launch 

You should now be able to graphically insert the model and see it in Gazebo. Go to Insert tab in the GUI and navigation tot he blueview_p900 model. If successful you should see something like this... /tutorials/images/blueview_insert.png

Create a world file with the new model already in place

Adding and configuring the plugin