How to attach Lidar on the model of FireFly

[taminhtoan2601]

Hello all,

I am newbie to Gazebo and ROS. Now, I want to attach Lidar sensor to the model Firefly to get data in order to control the firefly. With the simple models I created, I can attach it easily but with the ros_simulator package I downloaded I don't know where the file urdf in the package and in that file urdf where I can add the commands to attach it. How can I do it? Could you explain me little detail? Thank you very much for helping me!

Have a good day ahead!

[hmf97]

You need to go to rotors_description file, add the xacro file of the sensor you want to use. Then open "firefly_base.xacro" and include your xacro sensor file and then your sensor. The built-in sensors are found in "component_snippets.xacro" if you wish to see an example.

[talhamagat]

Hello, should I also add a urdf file while doing all this? Will only firefly.xacro and firefly_base.xacro files be changed?