Revision history [back]

Thanks to @tryan, I was able to adjust my scan radius by adjusting the YAW value of joint origins. Example below:

<joint name="laser_joint_right" type="fixed">
 <origin xyz="0.0 -0.25 -0.20" rpy="0 0 -${3.14/2}"/>
 . . .
</joint>

That gave me a full semi-circle laser radius on the tight hand side of my robot.

Also, I discovered the reason for the gittery intermittent lasers as shown in the image in my question above. The sensor name was the same for both lasers. They needed to be unique. Both left and right laser used <sensor type="ray" name="head_hokuyo_sensor"> in the gazebo reference data.

I changed it to the following:

<sensor type="ray" name="head_hokuyo_sensor_right">

And I also altered the second laser on the left of the robot to:

<sensor type="ray" name="head_hokuyo_sensor_left">

This make the laser scans stable.