62 lines
1.5 KiB
XML
62 lines
1.5 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.5">
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<model name="3d_lidar">
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<link name="link">
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.001</mass>
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<inertia>
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<ixx>4.15e-6</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.407e-6</iyy>
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<iyz>0</iyz>
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<izz>2.407e-6</izz>
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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/meshes/hokuyo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name='3d_lidar' type='ray'>
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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>-3.1415926535897931</min_angle>
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<max_angle>3.1415926535897931</max_angle>
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</horizontal>
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<vertical>
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<samples>32</samples>
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<min_angle>-0.2617993877991494365</min_angle>
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<max_angle>0.2617993877991494365</max_angle>
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</vertical>
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</scan>
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<range>
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<min>0.2</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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</ray>
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<plugin name='3d_laser' filename='libgazebo_ros_velodyne_laser.so'>
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<topicName>/velodyne_points</topicName>
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<frameName>laser_3d</frameName>
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<gaussianNoise>0.008</gaussianNoise>
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</plugin>
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<always_on>1</always_on>
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<update_rate>15</update_rate>
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<visualize>0</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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