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* added x500 model with frontfacing and downfacing lidar * rename of x500_lidar to x_500_lidar_2d
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| <?xml version="1.0"?> | ||
| <!-- | ||
| IMPORTANT | ||
| This model just adds a Mesh, but no sensor | ||
| This is because the orientation of the gz message is the pose in respect the sensor link, and not in respect of the base_link | ||
| in GZBridge we can only read out the pose of the sensor link, so to be able to differentiate different sensor orientations, the sensor needs to be in the parent model. | ||
| --> | ||
| <model> | ||
| <name>LW20</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Claudio Chies</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
|
||
| <description> | ||
| A Lightware LW20/C Lidar Model | ||
| </description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <model name="LW20"> | ||
| <link name="lw20_link"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <inertial> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <mass>0.02</mass> | ||
| <inertia> | ||
| <ixx>0.000004</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.000004</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.000002</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name="collision_base"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.03 0.02 0.043</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>model://LW20/meshes/LW20.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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2 changes: 1 addition & 1 deletion
2
models/x500_lidar/model.config → models/x500_lidar_2d/model.config
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0"?> | ||
| <model> | ||
| <name>x500_lidar_down</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.9">model.sdf</sdf> | ||
| <author> | ||
| <name>Claudio Chies</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
| <description>An x500 a lidar pointing down.</description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <sdf version='1.9'> | ||
| <model name='x500_lidar_down'> | ||
| <self_collide>false</self_collide> | ||
| <include merge='true'> | ||
| <uri>x500</uri> | ||
| </include> | ||
| <include merge='true'> | ||
| <uri>model://LW20</uri> | ||
| <pose relative_to="base_link">0 0 -0.079 0 1.57 0</pose> | ||
| </include> | ||
| <joint name="lidar_model_joint" type="fixed"> | ||
| <parent>base_link</parent> | ||
| <child>lw20_link</child> | ||
| <pose relative_to="base_link">-0 0 0 0 0 0</pose> | ||
| </joint> | ||
| <joint name="lidar_sensor_joint" type="fixed"> | ||
| <parent>base_link</parent> | ||
| <child>lidar_sensor_link</child> | ||
| </joint> | ||
| <link name="lidar_sensor_link"> | ||
| <pose relative_to="base_link">0 0 -0.05 0 1.57 0</pose> | ||
| <inertial> | ||
| <mass>0.001</mass> | ||
| <inertia> | ||
| <ixx>0.00001</ixx> | ||
| <iyy>0.00001</iyy> | ||
| <izz>0.00001</izz> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyz>0.0</iyz> | ||
| </inertia> | ||
| </inertial> | ||
| <sensor name='lidar' type='gpu_lidar'>" | ||
| <pose>0 0 0 3.14 0 0</pose> | ||
| <update_rate>50</update_rate> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>1</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>0</min_angle> | ||
| <max_angle>0</max_angle> | ||
| </horizontal> | ||
| <vertical> | ||
| <samples>1</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>0</min_angle> | ||
| <max_angle>0</max_angle> | ||
| </vertical> | ||
| </scan> | ||
| <range> | ||
| <min>0.1</min> | ||
| <max>100.0</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| </ray> | ||
| <always_on>1</always_on> | ||
| <visualize>true</visualize> | ||
| </sensor> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0"?> | ||
| <model> | ||
| <name>x500_lidar_front</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.9">model.sdf</sdf> | ||
| <author> | ||
| <name>Claudio Chies</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
| <description>An x500 a lidar pointing to the front for collision prevention</description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <sdf version='1.9'> | ||
| <model name='x500_lidar_front'> | ||
| <include merge='true'> | ||
| <uri>x500</uri> | ||
| </include> | ||
| <include merge='true'> | ||
| <uri>model://LW20</uri> | ||
| <pose relative_to="base_link">.15 0 .01 0 0 0</pose> | ||
| </include> | ||
| <joint name="lidar_model_joint" type="fixed"> | ||
| <parent>base_link</parent> | ||
| <child>lw20_link</child> | ||
| <pose relative_to="base_link">-0 0 0 0 0 0</pose> | ||
| </joint> | ||
| <link name="lidar_sensor_link"> | ||
| <pose relative_to="base_link">0.3 0 0.01 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.001</mass> | ||
| <inertia> | ||
| <ixx>0.00001</ixx> | ||
| <iyy>0.00001</iyy> | ||
| <izz>0.00001</izz> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyz>0.0</iyz> | ||
| </inertia> | ||
| </inertial> | ||
| <sensor name='lidar' type='gpu_lidar'>" | ||
| <pose relative_to="base_link">.15 0 .01 1.57 0 0</pose> | ||
| <update_rate>50</update_rate> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>1</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>0</min_angle> | ||
| <max_angle>0</max_angle> | ||
| </horizontal> | ||
| <vertical> | ||
| <samples>1</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>0</min_angle> | ||
| <max_angle>0</max_angle> | ||
| </vertical> | ||
| </scan> | ||
| <range> | ||
| <min>0.1</min> | ||
| <max>100.0</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| </ray> | ||
| <always_on>1</always_on> | ||
| <visualize>true</visualize> | ||
| </sensor> | ||
| </link> | ||
| <joint name="lidar_sensor_joint" type="fixed"> | ||
| <parent>base_link</parent> | ||
| <child>lidar_sensor_link</child> | ||
| </joint> | ||
| </model> | ||
| </sdf> |