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79 lines
2.1 KiB
79 lines
2.1 KiB
<?xml version="1.0"?>
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<sdf version="1.6">
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<model name="lidar_2d_v2">
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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 0.0435 0 0 0</pose>
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<mass>0.37</mass>
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<inertia>
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<ixx>0.00034437749999999994</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00034437749999999994</iyy>
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<iyz>0</iyz>
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<izz>0.00022199999999999998</izz>
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</inertia>
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</inertial>
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<collision name="collision_base">
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<pose>0 0 0.0205 0 0 0</pose>
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<geometry>
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<box>
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<size>0.06 0.06 0.041</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision_mid">
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<pose>0 0 0.055 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.025</radius>
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<length>0.028</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="collision_top">
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<pose>0 0 0.078 0 0 0</pose>
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<geometry>
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<box>
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<size>0.056 0.056 0.018</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://lidar_2d_v2/meshes/lidar_2d_v2.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name="lidar_2d_v2" type="gpu_lidar">
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<gz_frame_id>link</gz_frame_id>
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<pose>0 0 0.055 0 0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>1080</samples>
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<resolution>1</resolution>
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<min_angle>-2.356195</min_angle>
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<max_angle>2.356195</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.1</min>
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<max>30</max>
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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>0.001</stddev>
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</noise>
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</ray>
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<always_on>0</always_on>
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<update_rate>30</update_rate>
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<visualize>false</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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