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new lidar_v2 model and x500_lidar vehicle
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
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| <model> | ||
| <name>Lidar 2d v2</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
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| <author> | ||
| <name>Cole Biesemeyer</name> | ||
| </author> | ||
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| <description> | ||
| A generic planar lidar. | ||
| </description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <model name="lidar_2d_v2"> | ||
| <link name="link"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <inertial> | ||
| <pose>0 0 0.0435 0 0 0</pose> | ||
| <mass>0.37</mass> | ||
| <inertia> | ||
| <ixx>0.00034437749999999994</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.00034437749999999994</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.00022199999999999998</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name="collision_base"> | ||
| <pose>0 0 0.0205 0 0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.06 0.06 0.041</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="collision_mid"> | ||
| <pose>0 0 0.055 0 0 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.025</radius> | ||
| <length>0.028</length> | ||
| </cylinder> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="collision_top"> | ||
| <pose>0 0 0.078 0 0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.056 0.056 0.018</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>model://lidar_2d_v2/meshes/lidar_2d_v2.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <sensor name="lidar_2d_v2" type="gpu_ray"> | ||
| <pose>0 0 0.055 0 0 0</pose> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>1080</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>-2.356195</min_angle> | ||
| <max_angle>2.356195</max_angle> | ||
| </horizontal> | ||
| </scan> | ||
| <range> | ||
| <min>0.1</min> | ||
| <max>30</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.001</stddev> | ||
| </noise> | ||
| </ray> | ||
| <always_on>0</always_on> | ||
| <update_rate>30</update_rate> | ||
| <visualize>false</visualize> | ||
| </sensor> | ||
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| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0"?> | ||
| <model> | ||
| <name>x500-lidar</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.9">model.sdf</sdf> | ||
| <author> | ||
| <name>Jacob Dahl</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
| <description>x500 model with 2D Scanning Lidar</description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <sdf version='1.9'> | ||
| <model name='x500-lidar'> | ||
| <include merge='true'> | ||
| <uri>x500</uri> | ||
| </include> | ||
| <include merge='true'> | ||
| <!-- <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Lidar 2d v2</uri> --> | ||
| <uri>model://lidar_2d_v2</uri> | ||
| <pose>.12 0 .26 0 0 0</pose> | ||
| </include> | ||
| <joint name="LidarJoint" type="fixed"> | ||
| <parent>base_link</parent> | ||
| <child>link</child> | ||
| <pose relative_to="base_link">-.1 0 .26 0 0 0</pose> | ||
| </joint> | ||
| </model> | ||
| </sdf> |