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42 lines
1.0 KiB
XML
42 lines
1.0 KiB
XML
<?xml version="1.0" ?>
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<gazebo version="1.2">
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<model name="hokuyo">
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<link name="link">
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<gravity>false</gravity>
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<inertial>
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<mass>0.1</mass>
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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="laser" type="ray">
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<pose>0.01 0 0.03 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>-2.26889</min_angle>
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<max_angle>2.268899</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.08</min>
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<max>10</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="laser" filename="libRayPlugin.so" />
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</gazebo>
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