73 lines
2.6 KiB
XML
Executable File
73 lines
2.6 KiB
XML
Executable File
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
|
|
|
<xacro:include filename="$(find cititruck_description)/urdf/include/common_properties.urdf.xacro" />
|
|
|
|
<xacro:property name="laser_x" value="0.156" />
|
|
<xacro:property name="laser_y" value="0.155" />
|
|
<xacro:property name="laser_z" value="0.185" />
|
|
<xacro:property name="laser_mass" value="1.2" />
|
|
|
|
<xacro:macro name="sick_s300" params="link topic prefix">
|
|
<link name="${prefix}${link}">
|
|
<visual>
|
|
<origin xyz="0.0 0.0 0.0" rpy="${pi} 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://cititruck_description/meshes/visual/sick_lms-100.stl" />
|
|
</geometry>
|
|
<!-- <xacro:insert_block name="material_yellow" /> -->
|
|
<xacro:insert_block name="material_black" />
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0.0 0.0 0.0" rpy="${pi} 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://cititruck_description/meshes/visual/sick_lms-100.stl" />
|
|
</geometry>
|
|
</collision>
|
|
<xacro:box_inertial x="${laser_x}" y="${laser_y}" z="${laser_z}" mass="${laser_mass}">
|
|
<origin xyz="0 0 0" />
|
|
</xacro:box_inertial>
|
|
</link>
|
|
|
|
<gazebo reference="${prefix}${link}">
|
|
<!-- <material value="Gazebo/Yellow" /> -->
|
|
<material value="Gazebo/FlatBlack" />
|
|
|
|
<sensor type="ray" name="${prefix}${link}">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<visualize>false</visualize>
|
|
<update_rate>12.5</update_rate>
|
|
<ray>
|
|
<scan>
|
|
<horizontal>
|
|
<samples>541</samples>
|
|
<resolution>1</resolution> <!-- has to be 1; actual resolution will be computed from number of samples + min_angle/max_angle -->
|
|
<!-- <min_angle>-2.35619449615</min_angle>
|
|
<max_angle>2.35619449615</max_angle> -->
|
|
<min_angle>-2.094395102</min_angle>
|
|
<max_angle>2.181661565</max_angle>
|
|
</horizontal>
|
|
</scan>
|
|
<range>
|
|
<min>0.05</min>
|
|
<max>29.0</max>
|
|
<resolution>0.01</resolution>
|
|
</range>
|
|
<noise>
|
|
<type>gaussian</type>
|
|
<!-- Noise parameters based on published spec for S300 achieving
|
|
"+-29mm" accuracy at range < 3m (~0.01 of the range) at
|
|
1 sigma. -->
|
|
<mean>0.0</mean>
|
|
<stddev>0.01</stddev>
|
|
</noise>
|
|
</ray>
|
|
<plugin name="gazebo_ros_${link}_controller" filename="libgazebo_ros_laser.so">
|
|
<frameName>${prefix}${link}</frameName>
|
|
<topicName>${topic}</topicName>
|
|
</plugin>
|
|
</sensor>
|
|
</gazebo>
|
|
</xacro:macro>
|
|
</robot>
|