sick_lms1xx.urdf.xacro

<?xml version="1.0"?>
<!--
Copyright (c) 2013, Goncalo Cabrita, ISR University of Coimbra
Copyright (c) 2014, 2015 Clearpath Robotics
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:macro name="sick_lms1xx" params="frame:=laser topic:=scan sample_size:=720 update_rate:=50
               min_angle:=-2.35619 max_angle:=2.35619 min_range:=0.1 max_range:=30.0 robot_namespace:=/" >
    <link name="${frame}">
      <inertial>
        <mass value="1.1" />
        <origin xyz="0 0 0" />
        <inertia ixx="${0.0833333 * 1.1 * (0.102*0.102 + 0.152*0.152)}" ixy="0.0" ixz="0.0"
          iyy="${0.0833333 * 1.1 * (0.105*0.105 + 0.152*0.152)}" iyz="0.0"
          izz="${0.0833333 * 1.1 * (0.105*0.105 + 0.102*0.102)}" />
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <!-- Origin of this mesh is the focal point of the LIDAR. -->
          <mesh filename="package://lms1xx/meshes/sick-lms1xx.dae" />
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 -0.05" rpy="0 0 0" />
        <geometry>
          <box size="0.105 0.1 0.1" />
        </geometry>
      </collision>
    </link>

    <gazebo reference="${frame}">
      <turnGravityOff>true</turnGravityOff>
      <sensor type="gpu_ray" name="${frame}">
        <pose>0 0 0 0 0 0</pose>
        <visualize>false</visualize>
        <update_rate>${update_rate}</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>${sample_size}</samples>
              <resolution>1</resolution>
              <min_angle>${min_angle}</min_angle>
              <max_angle>${max_angle}</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>${min_range}</min>
            <max>${max_range}</max>
            <resolution>0.01</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.001</stddev>
          </noise>
        </ray>
        <plugin name="gazebo_ros_laser" filename="libgazebo_ros_gpu_laser.so">
          <topicName>${topic}</topicName>
          <frameName>${frame}</frameName>
          <robotNamespace>${robot_namespace}</robotNamespace>
        </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>
</robot>