You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
1.8 KiB
61 lines
1.8 KiB
<?xml version="1.0" ?>
|
|
<sdf version="1.4">
|
|
<model name="lidar">
|
|
<link name="link">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<mass>0.01</mass>
|
|
<inertia>
|
|
<ixx>2.1733e-6</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>2.1733e-6</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1.8e-7</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<cylinder><radius>0.006</radius><length>0.05</length></cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<name>Gazebo/Black</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<sensor name="laser" type="ray">
|
|
<pose>0 0 0 0 1.57079633 0</pose>
|
|
<ray>
|
|
<scan>
|
|
<horizontal>
|
|
<samples>1</samples>
|
|
<resolution>1</resolution>
|
|
<min_angle>-0</min_angle>
|
|
<max_angle>0</max_angle>
|
|
</horizontal>
|
|
</scan>
|
|
<range>
|
|
<min>0.06</min> <!-- do not change: use min_distance (below) for realistic behavior (smaller values cause issues) -->
|
|
<max>35</max> <!-- do not change: use min_distance (below) for realistic behavior (bigger values cause issues) -->
|
|
<resolution>0.01</resolution>
|
|
</range>
|
|
<noise>
|
|
<type>gaussian</type>
|
|
<mean>0.0</mean>
|
|
<stddev>0.02</stddev>
|
|
</noise>
|
|
</ray>
|
|
<plugin name="LaserPlugin" filename="libgazebo_lidar_plugin.so">
|
|
<robotNamespace></robotNamespace>
|
|
<min_distance>0.2</min_distance>
|
|
<max_distance>50.0</max_distance>
|
|
</plugin>
|
|
<always_on>1</always_on>
|
|
<update_rate>20</update_rate>
|
|
<visualize>true</visualize>
|
|
</sensor>
|
|
</link>
|
|
</model>
|
|
</sdf>
|
|
|