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61 lines
1.6 KiB
61 lines
1.6 KiB
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="rplidar">
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<link name="link">
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.19</mass>
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<inertia>
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<ixx>4.15e-6</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.407e-6</iyy>
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<iyz>0</iyz>
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<izz>2.407e-6</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.02 0.05 0.05</size>
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</box>
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</geometry>
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</visual>
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<sensor name="laser" type="ray">
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<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<resolution>1</resolution>
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<min_angle>-3.14</min_angle>
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<max_angle>3.14</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.2</min>
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<max>6</max>
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<resolution>0.05</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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<plugin name="laser" filename="libRayPlugin.so" />
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<plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_laser.so">
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<topicName>laser/scan</topicName>
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<frameName>rplidar_link</frameName>
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</plugin>
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<always_on>1</always_on>
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<update_rate>10</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</sdf>
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<!-- vim: set et fenc= ff=unix sts=0 sw=2 ts=2 : -->
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