169 lines
6.1 KiB
XML
169 lines
6.1 KiB
XML
<?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>
|