urdf: Add gazebo laser configuration

[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 5d5f9b7b23366dc5d5e8c2279e16bd26a01db062..2f00fd63efd18c6e3fc73169f1321d417d51048f 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -256,4 +256,36 @@
        <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
        <xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
        <xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
+
+       <gazebo reference="lidar">
+               <sensor type="ray" name="head_rplidar_a2_sensor">
+                       <pose>0 0 0 0 0 0</pose>
+                       <visualize>false</visualize>
+                       <update_rate>12</update_rate>
+                       <ray>
+                               <scan>
+                                       <horizontal>
+                                               <samples>360</samples>
+                                               <resolution>1</resolution>
+                                               <min_angle>-3.12413907051</min_angle>
+                                               <max_angle>3.14159274101</max_angle>
+                                       </horizontal>
+                               </scan>
+                               <range>
+                                       <min>0.15</min>
+                                       <max>16.0</max>
+                                       <resolution>0.01</resolution>
+                               </range>
+                               <noise>
+                                       <type>gaussian</type>
+                                       <mean>0.0</mean>
+                                       <stddev>0.01</stddev>
+                               </noise>
+                       </ray>
+                       <plugin name="gazebo_ros_head_rplidar_a2_controller" filename="libgazebo_ros_laser.so">
+                               <topicName>/scan</topicName>
+                               <frameName>lidar</frameName>
+                       </plugin>
+               </sensor>
+       </gazebo>
 </robot>