72 lines
2.2 KiB
XML
72 lines
2.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<xacro:include filename="inertial_macros.xacro"/>
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<joint name="laser_joint" type="fixed">
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<parent link="chassis"/>
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<child link="laser_frame"/>
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<origin xyz="-0.994175 0.0 1.0387512" rpy="0 ${9.0*deg_to_rad} 0"/>
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</joint>
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<link name="laser_frame">
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<visual>
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<geometry>
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<box size="0.105 0.1316 0.065"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.105 0.1316 0.065"/>
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</geometry>
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</collision>
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<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_cylinder>
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</link>
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<gazebo reference="laser_frame">
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<material>Gazebo/Red</material>
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<sensor name='gpu_lidar' type='gpu_lidar'>
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<topic>lidar</topic>
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<update_rate>5</update_rate>
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<ignition_frame_id>laser_frame</ignition_frame_id>
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<ray>
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<scan>
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<horizontal>
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<samples>666</samples>
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<resolution>1</resolution>
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<min_angle>${-60*deg_to_rad}</min_angle>
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<max_angle>${60*deg_to_rad}</max_angle>
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</horizontal>
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<vertical>
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<samples>108</samples>
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<resolution>1</resolution>
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<min_angle>${-12.5*deg_to_rad}</min_angle>
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<max_angle>${12.5*deg_to_rad}</max_angle>
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</vertical>
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</scan>
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<range>
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<min>0.08</min>
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<max>60.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<alwaysOn>true</alwaysOn>
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</sensor>
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<visual>
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<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
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<label>30</label>
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</plugin>
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</visual>
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</gazebo>
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</robot> |