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90 lines
2.3 KiB
90 lines
2.3 KiB
{%- set rad2deg = 57.2957795131 -%}
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{%- set deg2rad = 0.01745329251 -%}
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{%- set m = 0.050 -%}
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{%- set l = 0.010 -%}
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{%- set w = 0.005 -%}
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{%- set h = 0.005 -%}
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{%- set ixx = m/12*(w**2 + h**2) -%}
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{%- set iyy = m/12*(l**2 + h**2) -%}
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{%- set izz = m/12*(l**2 + w**2) -%}
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{%- macro box(l, w, h) -%}
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<geometry>
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<box>
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<size>{{l}} {{w}} {{h}}</size>
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</box>
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</geometry>
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{%- endmacro -%}
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="sf10a">
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<link name="link">
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<inertial>
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<mass>{{m}}</mass>
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<inertia>
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<ixx>{{ixx}}</ixx>
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<iyy>{{iyy}}</iyy>
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<izz>{{izz}}</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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{{ box(l, w, h)|indent(8) }}
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<material>
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<script>
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<name>Gazebo/Blue</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<collision name="collision">
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{{ box(l, w, h)|indent(8) }}
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</collision>
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<sensor name="sf10a" type="ray">
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<visualize>true</visualize>
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<always_on>1</always_on>
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<update_rate>20</update_rate>
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<pose>0 0 0 0 {{ 90*deg2rad }} 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>1</samples>
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<resolution>1</resolution>
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<min_angle>-0</min_angle>
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<max_angle>0</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.06</min> <!-- do not change: use min_distance (below) for realistic behavior (smaller values cause issues) -->
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<max>35</max> <!-- do not change: use min_distance (below) for realistic behavior (bigger values cause issues) -->
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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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<plugin name="LaserPlugin"
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filename="libgazebo_lidar_plugin.so">
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<robotNamespace></robotNamespace>
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<min_distance>0.1</min_distance>
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<max_distance>25.0</max_distance>
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</plugin>
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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 ft=xml fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->
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