{"id":250,"date":"2022-02-19T15:45:30","date_gmt":"2022-02-19T15:45:30","guid":{"rendered":"https:\/\/robotica-facil-con-ros2.es\/?p=250"},"modified":"2026-07-06T06:49:02","modified_gmt":"2026-07-06T06:49:02","slug":"como-anadir-un-sensor-lidar-a-tu-robot-en-gazebo","status":"publish","type":"post","link":"https:\/\/robotica-facil-con-ros2.es\/?p=250","title":{"rendered":"COMO A\u00d1ADIR UN SENSOR LIDAR A TU ROBOT EN GAZEBO"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"250\" class=\"elementor elementor-250\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-d4615f0 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"d4615f0\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-8687881\" data-id=\"8687881\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-3ed4813 elementor-widget elementor-widget-text-editor\" data-id=\"3ed4813\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Para incorporar un sensor LIDAR a nuestro robot es necesario a\u00f1adir a su modelo, en el archivo que contiene la informaci\u00f3n URDF, el siguiente c\u00f3digo XML que proporciona la informaci\u00f3n necesaria a Gazebo. En \u00e9l se define un nuevo sensor de tipo\u00a0<em><span class=\"\\&quot;has-inline-color\">ray<\/span><\/em>, indicando el\u00a0<em>link<\/em>\u00a0del modelo al que est\u00e1 unido, las caracter\u00edsticas del sensor, el plugin a cargar que en este caso es\u00a0<em><span class=\"\\&quot;has-inline-color\">libgazebo_ros_ray_sensor.so<\/span><\/em>\u00a0y su configuraci\u00f3n.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-21ef218 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"21ef218\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-4de22b4\" data-id=\"4de22b4\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-b6b9538 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"b6b9538\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-b6b9538\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-material-dark\"\n            data-dark-theme=\"mdp-theme-material-dark\"\n        >\n            \n                <pre class=\"language-markup copy-to-clipboard\"data-previewers=\"\"><code>&lt;gazebo reference=&quot;link_${name}&quot;&gt;\n    &lt;sensor type=&quot;ray&quot; name=&quot;${name}&quot; &gt;\n        &lt;always_on&gt;true&lt;\/always_on&gt;\n        &lt;update_rate&gt;15&lt;\/update_rate&gt;\n      \n        &lt;ray&gt;\n          &lt;scan&gt;\n            &lt;horizontal&gt;\n              &lt;samples&gt;640&lt;\/samples&gt;\n              &lt;resolution&gt;1&lt;\/resolution&gt;\n              &lt;min_angle&gt;0.00&lt;\/min_angle&gt;\n              &lt;max_angle&gt;6.28&lt;\/max_angle&gt;\n            &lt;\/horizontal&gt;\n          &lt;\/scan&gt;\n          &lt;range&gt;\n            &lt;min&gt;0.2&lt;\/min&gt;\n            &lt;max&gt;30.0&lt;\/max&gt;\n            &lt;resolution&gt;0.05&lt;\/resolution&gt;\n          &lt;\/range&gt;\n          &lt;noise&gt;\n            &lt;type&gt;gaussian&lt;\/type&gt;\n            &lt;mean&gt;0.0&lt;\/mean&gt;\n            &lt;stddev&gt;0.02&lt;\/stddev&gt;\n          &lt;\/noise&gt;\n        &lt;\/ray&gt;\n      \n        &lt;plugin name=&quot;lidar_controller&quot; filename=&quot;libgazebo_ros_ray_sensor.so&quot;&gt;\n          &lt;ros&gt;\n            &lt;namespace&gt;my_robot&lt;\/namespace&gt;\n            &lt;remapping&gt;~\/out:=scan&lt;\/remapping&gt;\n          &lt;\/ros&gt;\n          &lt;output_type&gt;sensor_msgs\/LaserScan&lt;\/output_type&gt;\n          &lt;frame_name&gt;link_${name}&lt;\/frame_name&gt;\n        &lt;\/plugin&gt;\n      \n    &lt;\/sensor&gt;\n&lt;\/gazebo&gt;<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_b6b9538 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n      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elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-a1538ad\" data-id=\"a1538ad\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-5f62b0f elementor-widget elementor-widget-text-editor\" data-id=\"5f62b0f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Para que funcione tambi\u00e9n tendremos que proporcionar un valor a la propiedad\u00a0<em>name<\/em>, lo que podemos hacer por ejemplo incluyendo la siguiente l\u00ednea XACRO que le asigna el valor\u00a0<em>\u201cmy_lidar\u201d<\/em>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-12fbfa9 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"12fbfa9\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-1125c02\" data-id=\"1125c02\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-38ce671 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"38ce671\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-38ce671\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-material-dark\"\n            data-dark-theme=\"mdp-theme-material-dark\"\n        >\n            \n                <pre class=\"language-markup copy-to-clipboard\"data-previewers=\"\"><code>&lt;xacro:property name=&quot;name&quot; value=&quot;my_lidar&quot; \/&gt;<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_38ce671 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_38ce671();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_38ce671 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-6a77bea elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"6a77bea\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-f1db5e4\" data-id=\"f1db5e4\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-d47d3bb elementor-widget elementor-widget-text-editor\" data-id=\"d47d3bb\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>O si lo preferimos podemos directamente sustituir en el c\u00f3digo\u00a0<em><span class=\"\\&quot;has-inline-color\">${name}<\/span><\/em>\u00a0por la cadena de texto que queramos.<\/p>\n<p>El significado de las distintas etiquetas que aparecen en el c\u00f3digo XML asociadas a la configuraci\u00f3n del sensor LIDAR y del plugin se indica a continuaci\u00f3n.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-1dc3c9a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1dc3c9a\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-9877748\" data-id=\"9877748\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-272860a elementor-widget elementor-widget-image\" data-id=\"272860a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"875\" height=\"2898\" src=\"https:\/\/robotica-facil-con-ros2.es\/wp-content\/uploads\/2022\/02\/post-250-lidar-params.png\" class=\"attachment-full size-full wp-image-1130\" alt=\"Gazebo lidar parametros\" srcset=\"https:\/\/robotica-facil-con-ros2.es\/wp-content\/uploads\/2022\/02\/post-250-lidar-params.png 875w, https:\/\/robotica-facil-con-ros2.es\/wp-content\/uploads\/2022\/02\/post-250-lidar-params-91x300.png 91w, https:\/\/robotica-facil-con-ros2.es\/wp-content\/uploads\/2022\/02\/post-250-lidar-params-309x1024.png 309w, https:\/\/robotica-facil-con-ros2.es\/wp-content\/uploads\/2022\/02\/post-250-lidar-params-768x2544.png 768w, https:\/\/robotica-facil-con-ros2.es\/wp-content\/uploads\/2022\/02\/post-250-lidar-params-464x1536.png 464w, https:\/\/robotica-facil-con-ros2.es\/wp-content\/uploads\/2022\/02\/post-250-lidar-params-618x2048.png 618w\" sizes=\"(max-width: 875px) 100vw, 875px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Par\u00e1metros del sensor LIDAR<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-20b90bc elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"20b90bc\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-c938449\" data-id=\"c938449\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-f481479 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"f481479\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-f481479\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-material-dark\"\n            data-dark-theme=\"mdp-theme-material-dark\"\n        >\n            \n                <pre class=\"language-markup\"data-previewers=\"\"><code>header:\n  stamp:\n    sec: 2038\n    nanosec: 132000000\n  frame_id: lidar\nangle_min: 0.7850000262260437\nangle_max: 2.3550000190734863\nangle_increment: 0.004373258911073208\ntime_increment: 0.0\nscan_time: 0.0\nrange_min: 0.11999999731779099\nrange_max: 3.5\nranges:\n- .inf\n- .inf\n- .inf\n- .inf\n- .inf\n- .inf\n- .inf\n- .inf\n- .inf\n- .inf\n- 0.6356969475746155\n- 0.6196209788322449\n- 0.6120960116386414\n- 0.5995888710021973\n- 0.5964055061340332\n- 0.5879242420196533\n- 0.5600863099098206\n- 0.5669693946838379\n- 0.5543314218521118\n- 0.5464122295379639\n- &#039;...&#039;\nintensities:\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- &#039;...&#039;\n---\n\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_f481479 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let 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Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_f481479();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_f481479 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-bccd6ce elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"bccd6ce\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-9d66390\" data-id=\"9d66390\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-cb08f5e elementor-widget elementor-widget-text-editor\" data-id=\"cb08f5e\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Una vez incluido el sensor LIDAR en nuestro modelo, si lo mostramos en Gazebo nos debe aparecer, seg\u00fan los nombres que hemos asignado en nuestro c\u00f3digo, un nodo <span style=\"color: #0000ff;\"><em>\/my_robot\/<\/em><em>lidar_controller<\/em><\/span> y un topic <span style=\"color: #0000ff;\">\/my_robot\/scan<\/span>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-553caba elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"553caba\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-b3cb22a\" data-id=\"b3cb22a\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-53a90d1 elementor-widget elementor-widget-image\" 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En \u00e9l se define un nuevo sensor de tipo\u00a0ray, indicando el\u00a0link\u00a0del modelo al que est\u00e1 unido, las caracter\u00edsticas del sensor, el plugin [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1149,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"_elementor_version":"4.1.4","footnotes":""},"categories":[5,10],"tags":[12,13,7,14,11],"class_list":["post-250","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ros2","category-simulacion","tag-gazebo","tag-lidar","tag-ros2","tag-sensor","tag-urdf"],"aioseo_notices":[],"aioseo_head":"\n\t\t<!-- All in One SEO 4.9.9 - aioseo.com -->\n\t<meta name=\"description\" content=\"Para incorporar un sensor LIDAR a nuestro robot es necesario a\u00f1adir a su modelo, en el archivo que contiene la informaci\u00f3n URDF, el siguiente c\u00f3digo XML que proporciona la informaci\u00f3n necesaria a Gazebo. 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