109 lines
2.7 KiB
Plaintext
109 lines
2.7 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="velodyne">
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<link name="base">
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<pose>0 0 0.029335 0 0 0</pose>
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<inertial>
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<mass>1.2</mass>
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<inertia>
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<ixx>0.001087473</ixx>
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<iyy>0.001087473</iyy>
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<izz>0.001092437</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="base_collision">
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<geometry>
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<cylinder>
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<radius>.04267</radius>
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<length>.05867</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="base_visual">
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<pose>0 0 -0.029335 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://velodyne_hdl32/meshes/velodyne_base.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="top">
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<pose>0 0 0.095455 0 0 0</pose>
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.000090623</ixx>
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<iyy>0.000090623</iyy>
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<izz>0.000091036</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="top_collision">
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<geometry>
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<cylinder>
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<radius>0.04267</radius>
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<length>0.07357</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="top_visual">
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<pose>0 0 -0.0376785 0 0 1.5707</pose>
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<geometry>
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<mesh>
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<uri>model://velodyne_hdl32/meshes/velodyne_top.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor type="ray" name="sensor">
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<pose>0 0 -0.004645 1.5707 0 0</pose>
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<visualize>true</visualize>
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<update_rate>30</update_rate>
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<ray>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.1</stddev>
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</noise>
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<scan>
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<horizontal>
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<samples>32</samples>
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<resolution>1</resolution>
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<min_angle>-0.53529248</min_angle>
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<max_angle>0.18622663</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.1</min>
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<max>70</max>
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<resolution>0.02</resolution>
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</range>
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</ray>
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</sensor>
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</link>
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<joint type="revolute" name="joint">
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<pose>0 0 -0.036785 0 0 0</pose>
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<parent>base</parent>
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<child>top</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-10000000000000000</lower>
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<upper>10000000000000000</upper>
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</limit>
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</axis>
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</joint>
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</model>
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</sdf>
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