The most straightforward way to implement robot navigation in ROS is by using an LDS that provides 360° coverage, allowing the robot to be aware of all the objects and obstacles around it.
In the introduction to this chapter, we identified the EAI YDLIDAR X4 as a low-cost option that can be integrated with our physical robot. That will be covered in the next chapter, while in the present one we will develop its virtual model to be integrated in Gazebo.
The next subsection extends the virtual GoPiGo3 that we've worked on in this chapter to include this very model of LDS. Afterward, we will deploy a quick SLAM example to get an overview of what this functionality can provide to robot navigation.
