model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="rplidar">
<link name="link">
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.19</mass>
<inertia>
<ixx>4.15e-6</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.407e-6</iyy>
<iyz>0</iyz>
<izz>2.407e-6</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.02 0.05 0.05</size>
</box>
</geometry>
</visual>
<sensor name="laser" type="gpu_ray">
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>6</max>
<resolution>0.05</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="laser" filename="libGpuRayPlugin.so" />
<plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>laser/scan</topicName>
<frameName>rplidar_link</frameName>
</plugin>
<always_on>1</always_on>
<update_rate>5.5</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>
</sdf>
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