Robotnik Kobuki Turtlebot 2 - Hokuyo URG04 LX

Kobuki Turtlebot II. User’s Manual
4.5.2 Hokuyo URG04LX
Dependencies:
*ros-kinetic-urg-node
Set the user permissions:
> sudo usermod -a -G dialout turtlebot
Add the following variable environments into the .bashrc and reload it:
Configuration with the sensor on the top plate:
export TURTLEBOT_TOP_PLATE_DEVICE=urg04lx
export TURTLEBOT_3D_SENSOR=no3d
Configuration with the sensor on the middle plate:
export TURTLEBOT_TOP_PLATE_DEVICE=notop
export TURTLEBOT_3D_SENSOR=urg04lx
1. To launch the sensor:
a. > roslaunch turtlebot_bringup minimal.launch
b. > roslaunch turtlebot_bringup hokuyo_urg04lx.launch
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