<?xml version="1.0" ?>
<sdf version="1.5">
    <model name="hokuyo">
        <pose>0 0 0.035 0 0 0</pose>
        <link name="link">
            <inertial>
                <mass>0.1</mass>
            </inertial>
            <visual name="visual">
                <geometry>
                    <mesh>
                        <uri>model://hokuyo/meshes/hokuyo.dae</uri>
                        <scale>0.5 0.5 0.5</scale>
                    </mesh>
                </geometry>
            </visual>
            <collision name="collision-base">
                <pose>0 0 -0.0145 0 0 0</pose>
                <geometry>
                    <box>
                        <size>0.025 0.025 0.0205</size>
                    </box>
                </geometry>
            </collision>
            <collision name="collision-top">
                <pose>0 0 0.0205 0 0 0</pose>
                <geometry>
                    <cylinder>
                        <radius>0.0105</radius>
                        <length>0.0145</length>
                    </cylinder>
                </geometry>
            </collision>
            <sensor name="laser" type="ray">
                <pose>0.01 0 0.0175 0 -0 0</pose>
                <ray>
                    <scan>
                        <horizontal>
                            <samples>640</samples>
                            <resolution>1</resolution>
                            <min_angle>-2.26889</min_angle>
                            <max_angle>2.268899</max_angle>
                        </horizontal>
                    </scan>
                    <range>
                        <min>0.08</min>
                        <max>10</max>
                        <resolution>0.01</resolution>
                    </range>
                </ray>
                <plugin name="laser" filename="libgazebo_ros_laser.so">
                    <topicName>scan</topicName>
                    <frameName>laser</frameName>
                    <always_on>1</always_on>
                    <robotNamespace>qt_pi</robotNamespace>
                    <update_rate>15</update_rate>
                </plugin>
                <update_rate>15</update_rate>
                <visualize>true</visualize>
            </sensor>
        </link>
    </model>
</sdf>