Multisense initialization is now already handled in the launch files, and it is no longer necessary to start the REA display, provided that the network processor is run in a terminal with 'export IS_GAZEBO=true'. What remains is to start the multisense and the connecting nodes.
Spin the hokoyu:
Run a robot_state_publisher and joint_state_publisher
rosrun joint_state_publisher joint_state_publisherThen, launch the node to obtain pointcloud topics that the REA Module is looking for:
Be aware that planar region data will not flow immediately. The LIDAR must accumulate and be processed by the planar region algorithm, and this may take 5-10 seconds. You can check that planar region data is flowing via