sensor_sim/description/lidar.xacro
2023-11-29 23:09:05 +01:00

67 lines
2.0 KiB
XML

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
<xacro:include filename="inertial_macros.xacro"/>
<joint name="laser_joint" type="fixed">
<parent link="chassis"/>
<child link="laser_frame"/>
<origin xyz="-1.1 0.0 1.0" rpy="0 0 0"/>
</joint>
<link name="laser_frame">
<visual>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>
<gazebo reference="laser_frame">
<material>Gazebo/Red</material>
<sensor name='gpu_lidar' type='gpu_lidar'>
<topic>lidar</topic>
<update_rate>5</update_rate>
<ignition_frame_id>laser_frame</ignition_frame_id>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>${-90*deg_to_rad}</min_angle>
<max_angle>${90*deg_to_rad}</max_angle>
</horizontal>
<vertical>
<samples>64</samples>
<resolution>1</resolution>
<min_angle>${-45*deg_to_rad}</min_angle>
<max_angle>${0*deg_to_rad}</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>60.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<alwaysOn>true</alwaysOn>
</sensor>
</gazebo>
</robot>