Create hokuyo gazebo plugin capable of dynamically reconfiguring rate and resolution (ros ticket #5024)

[ahendrix]

Running both the base and tilt lasers on the PR2 drains a lot of CPU because of the ray tracing that is done using ODE.

The gazebo_ros_laser plugin should be extended to allow some parameters of the laser to be reconfigured:

• rayCount
• rangeCount
• minAngle
• maxAngle
• minRange
• maxRange
• updateRate
• gaussianNoise
• frameName
• topicName

The rayCount and rangeCount numbers should have a sanity check, so if rayCount > rangeCount, it only generates the minimum number of needed rays.

trac data:

• Owner: natepak
• Reporter: watts
• Reported at: Wed Feb 16 14:26:15 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5024