forked from xtdrone/XTDrone
80 lines
2.3 KiB
XML
80 lines
2.3 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="hokuyo_lidar">
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<pose>0 0 0 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.001</mass>
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<inertia> <!-- inertias are tricky to compute -->
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<ixx>0.001</ixx>
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<!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
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<ixy>0.0</ixy>
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<!-- for a box: ixy = 0 -->
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<ixz>0.0</ixz>
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<!-- for a box: ixz = 0 -->
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<iyy>0.001</iyy>
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<!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
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<iyz>0.0</iyz>
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<!-- for a box: iyz = 0 -->
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<izz>0.001</izz>
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<!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
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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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<mesh>
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<uri>model://hokuyo_lidar/meshes/hokuyo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="collision-base">
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<pose>0 0 -0.0145 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 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-top">
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<pose>0 0 0.0205 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.021</radius>
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<length>0.029</length>
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</cylinder>
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</geometry>
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</collision>
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<sensor name="laser" type="ray">
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<pose>0 0 0.0175 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>512</samples>
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<resolution>1</resolution>
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<min_angle>-2.09</min_angle>
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<max_angle>2.09</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.45</min>
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<max>5</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
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<robotNamespace></robotNamespace>
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<topicName>scan</topicName>
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<frameName>laser_2d</frameName>
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</plugin>
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<always_on>1</always_on>
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<update_rate>500</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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