I have some problems to make SITL using Gazebo.
I have no idea to send message from gazebo to ardupilot, “DISTANCE_SENSOR”.
I followed the ardupilot developer document to install Gazebo,
and attached “Hokuyo” sensor.
I modified “Hokuyo” sensor’s plugin like bellow
<plugin name="laser" filename="libgazebo_ros_laser.so"> <topicName>/mavros/distance_sensor/scan</topicName> <frameName>map</frameName> </plugin>
and I confirmed the topic “/mavros/distance_sensor/scan” via “rostopit list” and “RQT”
so, I think the “Hokuyo” sensor data is published on MAVROS.
For next step, I hope to send this data to “DISTANCE_SENSOR”.
But I don’t know how to do this.
Plz give me some ideas or examples on MAVROS.
THX and Have a nice day.