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73 lines
2.2 KiB
73 lines
2.2 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500_flow'>
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<self_collide>false</self_collide>
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<include merge='true'>
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<uri>x500</uri>
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</include>
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<include merge='true'>
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<uri>model://optical_flow</uri>
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<pose relative_to="base_link">0.03 0 -0.1 0 0 0</pose>
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</include>
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<include merge='true'>
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<uri>model://LW20</uri>
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<pose relative_to="base_link">0 0 -0.079 0 1.57 0</pose>
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</include>
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<joint name="optical_flow_joint" type="fixed">
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<parent>base_link</parent>
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<child>flow_link</child>
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<pose relative_to="base_link">0 0 -0.1 0 1.5707 0</pose>
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</joint>
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<joint name="lidar_model_joint" type="fixed">
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<parent>base_link</parent>
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<child>lw20_link</child>
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<pose relative_to="base_link">-0 0 0 0 0 0</pose>
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</joint>
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<joint name="lidar_sensor_joint" type="fixed">
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<parent>base_link</parent>
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<child>lidar_sensor_link</child>
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</joint>
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<link name="lidar_sensor_link">
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<pose relative_to="base_link">0 0 -0.05 0 1.57 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.00001</ixx>
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<iyy>0.00001</iyy>
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<izz>0.00001</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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</inertial>
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<sensor name='lidar' type='gpu_lidar'>
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<gz_frame_id>lidar_sensor_link</gz_frame_id>
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<pose>0 0 0 3.14 0 0</pose>
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<update_rate>50</update_rate>
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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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<vertical>
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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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</vertical>
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</scan>
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<range>
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<min>0.1</min>
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<max>100.0</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<always_on>1</always_on>
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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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