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Quella777
2025-08-25 16:30:02 +08:00
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<?xml version="1.0"?>
<model>
<name>Scanse Sweep</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Adam Naber</name>
<email>casual.formality@gmail.com</email>
</author>
<description>
A model of a Scanse Sweep LiDAR sensor.
</description>
</model>

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<?xml version="1.0" ?>
<sdf version="1.6">
<!-- All values listed here are in meters or radians -->
<!-- Scanse does not supply 3D meshes on their website,
so the meshes and textures are loose approximations -->
<model name="scanse_sweep">
<!-- Give the base link a unique name -->
<link name="base">
<!-- Make sure it sits on ground plane -->
<pose>0 0 0.0117 0 0 0</pose>
<inertial>
<!-- Assume most of the mass is in the base. This is not
actually true, but gives a good enough approximation
and preserves the desired kinematics -->
<mass>0.110</mass>
<inertia>
<ixx>0.000022901</ixx>
<iyy>0.000022901</iyy>
<izz>0.000035764</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="base_collision">
<geometry>
<cylinder>
<radius>.0255</radius>
<length>.0234</length>
</cylinder>
</geometry>
</collision>
<!-- Visual is just a copy of the collision -->
<visual name="base_visual">
<geometry>
<mesh>
<uri>model://scanse_sweep/meshes/scanse_bottom.dae</uri>
</mesh>
</geometry>
<!-- Dark gray, matte -->
<material>
<ambient>0.25 0.25 0.25 1</ambient>
<diffuse>0.25 0.25 0.25 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<!-- Top Rotating Bit -->
<link name="top">
<!-- Make sure it sits on the base -->
<pose>0 0 0.04265 0 0 0</pose>
<inertial>
<mass>0.010</mass>
<inertia>
<ixx>0.000011798</ixx>
<iyy>0.000011798</iyy>
<izz>0.000021125</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="top_collision">
<geometry>
<cylinder>
<radius>.0325</radius>
<length>.0385</length>
</cylinder>
</geometry>
</collision>
<!-- Visual is just a copy of the collision -->
<visual name="top_visual">
<geometry>
<mesh>
<uri>model://scanse_sweep/meshes/scanse_top.dae</uri>
</mesh>
</geometry>
<!-- Dark gray, matte -->
<material>
<ambient>0.25 0.25 0.25 1</ambient>
<diffuse>0.25 0.25 0.25 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<!-- Add ray sensor -->
<sensor type="ray" name="sensor">
<!-- Set vertical location -->
<pose>0 0 -0.00105 0 0 0</pose>
<!-- Enable sensor visualization -->
<visualize>true</visualize>
<!-- Set default update frequency of the sensor (500 Hz) -->
<update_rate>500</update_rate>
<ray>
<!-- Resolution is 1cm, so we assume the std_dev of
the noise is roughly 1mm -->
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.001</stddev>
</noise>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<!-- The Scanse Sweep has a vertical range of 0.5
degrees. We simulate this by taking multiple
data points over the range and averaging them. -->
<vertical>
<samples>5</samples>
<!-- Take average of samples over range -->
<resolution>5</resolution>
<!-- +/- 0.25 degrees -->
<min_angle>-0.00436</min_angle>
<max_angle>0.00436</max_angle>
</vertical>
</scan>
<range>
<!-- Minimum beam distance -->
<min>0.05</min>
<!-- Maximum beam distance -->
<max>40.0</max>
<!-- Linear beam resolution -->
<resolution>0.01</resolution>
</range>
</ray>
</sensor>
</link>
<!-- The top parts sits on the base and spins around the z-axis.
Note that due to the small masses, when controlling this, your
PID gain should be on the order of 0.0001 -->
<joint type="revolute" name="joint">
<pose>0 0 -0.01925 0 0 0</pose>
<parent>base</parent>
<child>top</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<!-- Use a very large number to indicate
continuous revolution -->
<lower>-10000000000000000</lower>
<upper>10000000000000000</upper>
</limit>
</axis>
</joint>
</model>
</sdf>