forked from xtdrone/XTDrone
31 lines
1.3 KiB
XML
31 lines
1.3 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find wamv_gazebo)/urdf/sensors/wamv_3d_lidar.xacro"/>
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<xacro:macro name="lidar"
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params = "type:='16_beam'
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name
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x:=0.7 y:=0 z:=1.8
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R:=0 P:=0 Y:=0
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post_Y:=0 post_z_from:=1.2965">
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<xacro:if value="${type == '16_beam'}">
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<xacro:wamv_3d_lidar name="${name}"
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x="${x}" y="${y}" z="${z}"
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R="${R}" P="${P}" Y="${Y}"
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post_Y="${post_Y}" post_z_from="${post_z_from}"
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vertical_lasers="16"/>
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<!--specs for 16 beam lidar are implemented by default.
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See wamv_3d_lidar for those-->
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</xacro:if>
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<xacro:if value="${type == '32_beam'}">
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<xacro:wamv_3d_lidar name="${name}"
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x="${x}" y="${y}" z="${z}"
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R="${R}" P="${P}" Y="${Y}"
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post_Y="${post_Y}" post_z_from="${post_z_from}"
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vertical_lasers="32"
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samples="2187"
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min_vertical_angle="-0.186"
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max_vertical_angle="0.54"/>
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</xacro:if>
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</xacro:macro>
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</robot>
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