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Quella777
2025-08-25 16:30:02 +08:00
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prius_hybrid_sensors/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Prius Hybrid with sensors</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Ian Chen</name>
<email>iche033@osrfoundation.org</email>
</author>
<depend>
<model>
<uri>model://prius_hybrid</uri>
<version>1.0</version>
</model>
</depend>
<description>
Toyota Prius Hybrid with sensors.
</description>
</model>

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prius_hybrid_sensors/model.sdf Normal file
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<?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>