Skip to content →

How To: Simulate Laser Scanner (Lidar) on IRobot Create/Roomba in ROS Gazebo

Following up from my previous post, I wanted to simulate an IRobot Create with a hokuyo laser mounted on it. I needed this to get my motion planning simulation up and running.

1. Follow the tutorial to get your create up and running in ROS/Gazebo.

2. If you downloaded the gazebo model repository from bitbucket, then simply copy the hokuyo folder to ~/.gazebo/models. Otherwise download just the hokuyo model and copy it to that location.

3. Use this modified IRobotCreateHokuyo. Download and rename extension from .txt to .sdf and move it to ~/catkin_ws/src/create/

4. In one terminal $roscore

5. In another terminal $roslaunch gazebo_ros empty_world.launch

6. In third terminal $ rosrun gazebo_ros spawn_model -file /home/<USERNAME>/catkin_ws/src/create/IRobotCreateHokuyo.sdf -sdf -model create

Note: The modified SDF adds a joint, link and the sensor model. It uses the laser plugin in gazebo.




Published in Research Tutorial


  1. Raj Raj

    Hi how do you view the output of the lidar attached to the model in rviz etc.
    i have made my own model to which i have attached a lidar but i cannot seem to view it in rviz tho i can view the output in thee gazebo topic-viewer

    • sauravagarwal sauravagarwal

      You will have to add a new display for the laser and give it the particular laser topic name in rviz. Instructions are posted here.

  2. Hen Hen

    I can view the laser scan on the Gazebo topic viewer, however no scans are published (rostopic list). How can I add/publish the scans to use them?

    • oli oli

      I really would like a answer on this questionn!

Leave a Reply

Your email address will not be published. Required fields are marked *