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46 lines
1.2 KiB
46 lines
1.2 KiB
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="sonar">
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<link name="link">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.000000000000001</mass>
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<inertia>
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<ixx>2.08333333e-7</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.08333333e-7</iyy>
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<iyz>0</iyz>
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<izz>4.16666667e-8</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>0.005 0.015 0.005</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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<sensor name="sonar" type="sonar">
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<pose>0 0 0 0 1.57 0</pose>
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<sonar>
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<min>0.02</min>
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<max>5.0</max>
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<radius>1.33974388395</radius>
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</sonar>
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<plugin name="SonarPlugin" filename="libgazebo_sonar_plugin.so">
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<robotNamespace></robotNamespace>
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</plugin>
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<always_on>1</always_on>
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<update_rate>20</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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