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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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<?xml version="1.0"?>
<model>
<name>Velodyne HDL-32</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A model of a Velodyne HDL-32 LiDAR sensor.
</description>
</model>

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