169 lines
6.1 KiB
Plaintext
169 lines
6.1 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<!-- All values listed here are in meters or radians -->
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<!-- Scanse does not supply 3D meshes on their website,
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so the meshes and textures are loose approximations -->
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<model name="scanse_sweep">
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<!-- Give the base link a unique name -->
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<link name="base">
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<!-- Make sure it sits on ground plane -->
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<pose>0 0 0.0117 0 0 0</pose>
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<inertial>
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<!-- Assume most of the mass is in the base. This is not
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actually true, but gives a good enough approximation
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and preserves the desired kinematics -->
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<mass>0.110</mass>
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<inertia>
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<ixx>0.000022901</ixx>
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<iyy>0.000022901</iyy>
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<izz>0.000035764</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>.0255</radius>
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<length>.0234</length>
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</cylinder>
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</geometry>
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</collision>
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<!-- Visual is just a copy of the collision -->
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<visual name="base_visual">
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<geometry>
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<mesh>
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<uri>model://scanse_sweep/meshes/scanse_bottom.dae</uri>
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</mesh>
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</geometry>
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<!-- Dark gray, matte -->
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<material>
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<ambient>0.25 0.25 0.25 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0 0 0 0</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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<!-- Top Rotating Bit -->
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<link name="top">
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<!-- Make sure it sits on the base -->
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<pose>0 0 0.04265 0 0 0</pose>
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<inertial>
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<mass>0.010</mass>
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<inertia>
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<ixx>0.000011798</ixx>
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<iyy>0.000011798</iyy>
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<izz>0.000021125</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>.0325</radius>
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<length>.0385</length>
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</cylinder>
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</geometry>
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</collision>
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<!-- Visual is just a copy of the collision -->
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<visual name="top_visual">
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<geometry>
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<mesh>
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<uri>model://scanse_sweep/meshes/scanse_top.dae</uri>
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</mesh>
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</geometry>
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<!-- Dark gray, matte -->
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<material>
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<ambient>0.25 0.25 0.25 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0 0 0 0</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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<!-- Add ray sensor -->
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<sensor type="ray" name="sensor">
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<!-- Set vertical location -->
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<pose>0 0 -0.00105 0 0 0</pose>
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<!-- Enable sensor visualization -->
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<visualize>true</visualize>
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<!-- Set default update frequency of the sensor (500 Hz) -->
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<update_rate>500</update_rate>
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<ray>
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<!-- Resolution is 1cm, so we assume the std_dev of
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the noise is roughly 1mm -->
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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>0.001</stddev>
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</noise>
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<scan>
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<horizontal>
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<samples>1</samples>
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<resolution>1</resolution>
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<min_angle>0</min_angle>
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<max_angle>0</max_angle>
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</horizontal>
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<!-- The Scanse Sweep has a vertical range of 0.5
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degrees. We simulate this by taking multiple
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data points over the range and averaging them. -->
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<vertical>
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<samples>5</samples>
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<!-- Take average of samples over range -->
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<resolution>5</resolution>
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<!-- +/- 0.25 degrees -->
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<min_angle>-0.00436</min_angle>
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<max_angle>0.00436</max_angle>
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</vertical>
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</scan>
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<range>
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<!-- Minimum beam distance -->
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<min>0.05</min>
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<!-- Maximum beam distance -->
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<max>40.0</max>
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<!-- Linear beam resolution -->
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<resolution>0.01</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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<!-- The top parts sits on the base and spins around the z-axis.
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|
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Note that due to the small masses, when controlling this, your
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PID gain should be on the order of 0.0001 -->
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<joint type="revolute" name="joint">
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<pose>0 0 -0.01925 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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<!-- Use a very large number to indicate
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continuous revolution -->
|
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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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