I have a urdf file for r2d2 robot in which I have added hokuyo laser plugin for gazebo
THe code for which is:[link text](http://ttps://pastebin.com/jJ0qiWyk)
I have also initialized a differential skid plugin for the 4 wheela of the robot, the code for which is [link text](https://pastebin.com/NE3SVAas)
The complete urdf is : [link text](https://pastebin.com/ZxwWpwXg)
My launch file looks like this:[link text](https://pastebin.com/gYXnGiKV)
I am able to have the launch file open the robot in gazebo for me:
But no /odom, /cmd_vel or /base_scan topic shows up when I type rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/joint_states
/rosout
/rosout_agg
/tf
/tf_static
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