Modifying LaserScan Message Definition(Or How to Access Turtlebot Files)

by Harry Zhu (courtesy of TA Adam Ring)

This guide showcases how you can modify the definitions (e.g. range_min) of the LaserScan message published to the /scan topic. It is also a brief “guide” on how to access and modify files on a Turtlebot.

Turtlebot’s LaserScan message is specified by the ld08_driver.cpp file from this repo: https://github.com/ROBOTIS-GIT/ld08_driver/tree/develop/src. You can modify this file on your Turtlebot through a terminal on vnc.

Step 1: ssh into your robot, do not do bringup

Step 2: cd to the right directory

cd catkin_ws/src/ld08_driver/src

Step 3: enter nano editor

nano ld08_driver.cpp

Step 4: go to line 63 and fine

scan.range_min = 0.0;

Step 5: modify the value as you see fit

Step 6: save and exit

ctrl + S to save, ctrl + X to exit the editor

Step 7: remember to cm

cm