以sumit_xl模型爲例，若sumit_xl模型git下載不下來，可通過https://download.csdn.net/download/Travis_X/12321738下載。
$ cd ~/catkin_ws/src
$ git clone https://[email protected]/theconstructcore/summit_xl.git -b kinetic
$ cd ..
$ catkin_make
下載Velodyne_description工具包或者直接sudo apt-get install ros-kinetic-velodyne-*
修改summit_xl_omni.urdf.xacro文件,添加多線雷達模型
16線激光雷達或32線激光雷達
<!-- VLP-16 -->
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<VLP-16 parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="1024" gpu="false" lasers="16" max_range="100">
<origin xyz="0 0 0.5" rpy="0 0 0" />
</VLP-16>
<!-- VHDL-32E -->
<xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
<HDL-32E parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="1024" gpu="false">
<origin xyz="0 0 0.5" rpy="0 0 0" />
</HDL-32E>
運行launch文件
roslaunch summit_xl_gazebo summit_xl_omni.launch
