feat(pandar_description): add pandar_qt128 description #44
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="pandar_qt128" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <!-- Define materials --> | ||
| <material name="gray_material"> | ||
| <color rgba="0.9 0.9 0.9 1.0"/> | ||
| </material> | ||
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| <xacro:macro name="PandarQT-128" params="name parent x y z roll pitch yaw"> | ||
| <!-- Joint for LiDAR base link --> | ||
| <joint name="${name}_base_mount_joint" type="fixed"> | ||
| <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/> | ||
| <parent link="${parent}"/> | ||
| <child link="${name}_base_link"/> | ||
| </joint> | ||
| <!-- Joint for Laser Firing Position --> | ||
| <joint name="${name}_base_scan_joint" type="fixed"> | ||
| <origin xyz="0 0 0.0582" rpy="0 0 0"/> | ||
| <parent link="${name}_base_link"/> | ||
| <child link="${name}"/> | ||
| </joint> | ||
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| <!-- Link for LiDAR base link --> | ||
| <link name="${name}_base_link"> | ||
| <!-- LiDAR visualization from bottom --> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.029" radius="0.043"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0.0144" rpy="0 0 0"/> | ||
| <material name="gray_material"/> | ||
| </visual> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.0481" radius="0.043"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0.0528" rpy="0 0 0"/> | ||
| <material name="gray_material"/> | ||
| </visual> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.007" radius="0.043"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0.08" rpy="0 0 0"/> | ||
| <material name="gray_material"/> | ||
| </visual> | ||
| <!-- LiDAR connector visualization --> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.015" radius="0.0057"/> | ||
|
There was a problem hiding this comment. The connector is actually ellipse, but simply define as cylinder here. |
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| </geometry> | ||
| <origin xyz="0 0.051 0.0144" rpy="1.57 0 0"/> | ||
| <material name="gray_material"/> | ||
| </visual> | ||
| </link> | ||
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There was a problem hiding this comment.
sensor_component_description/pandar_description/urdf/pandar_qt.xacro Lines 55 to 59 in cf6acf3 |
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| <!-- Link for Laser Firing Position --> | ||
| <link name="${name}"/> | ||
| </xacro:macro> | ||
| </robot> | ||
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The naming convention of
PandarQT-128complies withPandarOT-128sensor_component_description/pandar_description/urdf/pandar_ot128.xacro
Line 3 in cf6acf3