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primer commit #113

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1 change: 1 addition & 0 deletions velodyne_hdl32/Models/HDL32E_Outline_Model.STEP
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104 changes: 104 additions & 0 deletions velodyne_hdl32/Models/Velodyne.dae
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11 changes: 11 additions & 0 deletions velodyne_hdl32/Models/model.config
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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>Optional: Rodrigo</name>
<email>Optional: [email protected]</email>
</author>
<description>A model of a Velodyne HDL-32 LiDAR sensor.</description>
</model>
43 changes: 43 additions & 0 deletions velodyne_hdl32/Models/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="velodyne_hdl-32">
<!-- Enlace base -->
<link name="base">
<pose>0 0 0 0 0 0</pose>
<visual name="base_visual">
<geometry>
<mesh>
<uri>model://velodyne_hdl32/meshes/velodyne_base.dae</uri>
</mesh>
</geometry>
</visual>
</link>

<!-- Enlace superior -->
<link name="top">
<pose>0 0 0.1 0 0 0</pose>
<visual name="top_visual">
<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>
<ray>
<noise>
<!-- Usa ruido gaussiano -->
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.02</stddev>
</noise>
</ray>
</sensor>

</link>
</model>
</sdf>