438 lines
13 KiB
Plaintext
438 lines
13 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.6">
|
||
|
|
<model name="prius_hybrid_sensors">
|
||
|
|
<include>
|
||
|
|
<uri>model://prius_hybrid</uri>
|
||
|
|
</include>
|
||
|
|
|
||
|
|
<joint name="sensor_joint" type="fixed">
|
||
|
|
<parent>prius_hybrid::chassis</parent>
|
||
|
|
<child>sensors</child>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="sensors">
|
||
|
|
<sensor name='back_camera_sensor' type='camera'>
|
||
|
|
<update_rate>30</update_rate>
|
||
|
|
<camera name='back_camera'>
|
||
|
|
<horizontal_fov>1.39626</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>800</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
|
|
<far>300</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>0.007</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
<pose frame=''>0 1.45 1.4 0 0.05 1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='back_left_far_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<pose frame=''>0.7 2.4 0.5 0 -0 1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='back_left_middle_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>0.24 2.4 0.5 0 -0 1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='back_right_far_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>-0.7 2.4 0.5 0 -0 1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='back_right_middle_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>-0.24 2.4 0.5 0 -0 1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='center_laser_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>512</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>-3.14</min_angle>
|
||
|
|
<max_angle>3.14</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>16</samples>
|
||
|
|
<min_angle>-0.1</min_angle>
|
||
|
|
<max_angle>-0.35</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>30</max>
|
||
|
|
<resolution>0.01</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>1</always_on>
|
||
|
|
<update_rate>30</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>0 0.4 2.0 0 0 -1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='front_camera_sensor' type='camera'>
|
||
|
|
<update_rate>30</update_rate>
|
||
|
|
<camera name='front_camera'>
|
||
|
|
<horizontal_fov>1.39626</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>800</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
|
|
<far>300</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>0.007</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
<pose frame=''>0 -0.4 1.4 0 0.05 -1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='front_left_far_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>0.7 -2.1 0.5 0 0 -1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='front_left_laser_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>640</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>-2.26889</min_angle>
|
||
|
|
<max_angle>2.2689</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>30</max>
|
||
|
|
<resolution>0.01</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>1</always_on>
|
||
|
|
<update_rate>30</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>1 -2.3 0.8 0 0.05 0</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='front_left_middle_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>0.24 -2.3 0.5 0 0 -1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='front_right_far_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>-0.7 -2.1 0.5 0 0 -1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='front_right_laser_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>640</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>-2.26889</min_angle>
|
||
|
|
<max_angle>2.2689</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>30</max>
|
||
|
|
<resolution>0.01</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>1</always_on>
|
||
|
|
<update_rate>30</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>-1 -2.3 0.8 -0 0.05 3.14</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='front_right_middle_sonar_sensor' type='ray'>
|
||
|
|
<ray>
|
||
|
|
<scan>
|
||
|
|
<horizontal>
|
||
|
|
<samples>1</samples>
|
||
|
|
<resolution>1</resolution>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<samples>1</samples>
|
||
|
|
<min_angle>0</min_angle>
|
||
|
|
<max_angle>0</max_angle>
|
||
|
|
</vertical>
|
||
|
|
</scan>
|
||
|
|
<range>
|
||
|
|
<min>0.2</min>
|
||
|
|
<max>5</max>
|
||
|
|
<resolution>0.1</resolution>
|
||
|
|
</range>
|
||
|
|
</ray>
|
||
|
|
<always_on>0</always_on>
|
||
|
|
<update_rate>5</update_rate>
|
||
|
|
<visualize>1</visualize>
|
||
|
|
<pose frame=''>-0.24 -2.3 0.5 0 0 -1.5707</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='left_camera_sensor' type='camera'>
|
||
|
|
<update_rate>30</update_rate>
|
||
|
|
<camera name='left_camera'>
|
||
|
|
<horizontal_fov>1.39626</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>800</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
|
|
<far>300</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>0.007</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
<pose frame=''>1 -0.7 1 0 0.05 1</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name='right_camera_sensor' type='camera'>
|
||
|
|
<update_rate>30</update_rate>
|
||
|
|
<camera name='right_camera'>
|
||
|
|
<horizontal_fov>1.39626</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>800</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
|
|
<far>300</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>0.007</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
<pose frame=''>-1 -0.7 1 0 0.05 2.1416</pose>
|
||
|
|
</sensor>
|
||
|
|
<sensor name="gps_sensor" type="gps">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<update_rate>10.0</update_rate>
|
||
|
|
<always_on>true</always_on>
|
||
|
|
<gps>
|
||
|
|
<position_sensing>
|
||
|
|
<horizontal>
|
||
|
|
<noise type="gaussian_quantized">
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>1</stddev>
|
||
|
|
<bias_mean>3</bias_mean>
|
||
|
|
<bias_stddev>1</bias_stddev>
|
||
|
|
<precision>0.5</precision>
|
||
|
|
</noise>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<noise type="gaussian_quantized">
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>1</stddev>
|
||
|
|
<bias_mean>3</bias_mean>
|
||
|
|
<bias_stddev>1</bias_stddev>
|
||
|
|
<precision>1.0</precision>
|
||
|
|
</noise>
|
||
|
|
</vertical>
|
||
|
|
</position_sensing>
|
||
|
|
<velocity_sensing>
|
||
|
|
<horizontal>
|
||
|
|
<noise type="gaussian_quantized">
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>0.1</stddev>
|
||
|
|
<bias_mean>0.1</bias_mean>
|
||
|
|
<bias_stddev>0.1</bias_stddev>
|
||
|
|
<precision>0.1</precision>
|
||
|
|
</noise>
|
||
|
|
</horizontal>
|
||
|
|
<vertical>
|
||
|
|
<noise type="gaussian_quantized">
|
||
|
|
<mean>0</mean>
|
||
|
|
<stddev>0.2</stddev>
|
||
|
|
<bias_mean>0.2</bias_mean>
|
||
|
|
<bias_stddev>0.2</bias_stddev>
|
||
|
|
<precision>0.2</precision>
|
||
|
|
</noise>
|
||
|
|
</vertical>
|
||
|
|
</velocity_sensing>
|
||
|
|
</gps>
|
||
|
|
</sensor>
|
||
|
|
<sensor name="imu_sensor" type="imu">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<always_on>1</always_on>
|
||
|
|
<update_rate>1000.0</update_rate>
|
||
|
|
</sensor>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</sdf>
|