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https://gitlab.com/yikestone/qt_pi.git
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63 lines
2.2 KiB
XML
63 lines
2.2 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="hokuyo">
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<pose>0 0 0.035 0 0 0</pose>
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<link name="link">
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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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<scale>0.5 0.5 0.5</scale>
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</mesh>
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</geometry>
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</visual>
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<collision name="collision-base">
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<pose>0 0 -0.0145 0 0 0</pose>
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<geometry>
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<box>
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<size>0.025 0.025 0.0205</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision-top">
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<pose>0 0 0.0205 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.0105</radius>
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<length>0.0145</length>
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</cylinder>
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</geometry>
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</collision>
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<sensor name="laser" type="ray">
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<pose>0.01 0 0.0175 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="libgazebo_ros_laser.so">
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<topicName>scan</topicName>
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<frameName>laser</frameName>
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<always_on>1</always_on>
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<robotNamespace>qt_pi</robotNamespace>
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<update_rate>15</update_rate>
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</plugin>
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<update_rate>15</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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</sdf> |