We are going to simulation an laser scan acquisition using RVIZ. Everything will run inside a docker container.
cd $HOME && \
sudo apt install xfce4-terminal && \
git clone https://github.com/visiont3lab/docker-ros-laser-sim.git && \
echo "export ROS_LASER_SIM=$HOME/docker-ros-laser-sim" >> $HOME/.bashrc && source $HOME/.bashrc
Feel free to modify the path as you like!
cd $ROS_LASER_SIM/scripts && ./launch_laser_sim.sh
After finishing remember to type
docker stop ros_melodic_desktop_laser_sim
Main Reference
Tf transform
Amazing Article
Laser assembler
cd $ROS_LASER_SIM && docker build -t ros-melodic-desktop-full .