Robot Laser Simulator (ROS)

Simple robot simulator ROS package using Bresenham ray-casting algorithm. Example visualization in RViz can be watched from Youtube (https://www.youtube.com/watch?v=8J_atau72BQ) and can be seen from the GIF below:

The given map for the simulator (The robot in the GIF above starting on left bottom side of the map):

Features

• ROS (outputs /scan and inputs /cmd_vel)
• Publishes simulator clock on ROS (so other nodes can adapt to the simulator speed rate)
• Publishes map->base_link transform. (No noise implemented yet)
• Laser noise (gaussian mu and variance)
• Easy to read. Maybe? :)

Running

$ roslaunch robot_laser_simulator start.launch  # => there are modifiable parameters in this file with descriptions
$ rosrun rqt_robot_steering rqt_robot_steering  # => you can use this command for manually controlling the robot

Reference:

• https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm#All_cases