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* Added rplidars s2 and s3 Signed-off-by: Jakub Delicat <[email protected]> * small fixes --------- Signed-off-by: Jakub Delicat <[email protected]> Co-authored-by: rafal-gorecki <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,155 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:macro name="slamtec_rplidar_s2" | ||
| params="parent_link xyz rpy | ||
| use_gpu:=false | ||
| tf_prefix:=None | ||
| topic:=scan | ||
| frame_id:=laser | ||
| simulation_engine:=gazebo-classic"> | ||
|
|
||
| <xacro:if value="${use_gpu}"> | ||
| <xacro:if value="${simulation_engine == 'gazebo-classic'}"> | ||
| <xacro:property name="ray_type" value="gpu_ray" /> | ||
| </xacro:if> | ||
| <xacro:if value="${simulation_engine == 'ignition-gazebo'}"> | ||
| <xacro:property name="ray_type" value="gpu_lidar" /> | ||
| </xacro:if> | ||
| </xacro:if> | ||
| <xacro:unless value="${use_gpu}"> | ||
| <xacro:if value="${simulation_engine == 'gazebo-classic'}"> | ||
| <xacro:property name="ray_type" value="ray" /> | ||
| </xacro:if> | ||
| <xacro:if value="${simulation_engine == 'ignition-gazebo'}"> | ||
| <!-- use_gpu has to be set to true, CPU lidar doesn't work in ignition - | ||
| https://github.com/gazebosim/gz-sensors/issues/26 --> | ||
| <xacro:property name="ray_type" value="lidar" /> | ||
| </xacro:if> | ||
| </xacro:unless> | ||
|
|
||
| <xacro:if value="${tf_prefix == 'None'}"> | ||
| <xacro:property name="prefix" value="" /> | ||
| </xacro:if> | ||
| <xacro:unless value="${tf_prefix == 'None'}"> | ||
| <xacro:property name="prefix" value="${tf_prefix}_" /> | ||
| </xacro:unless> | ||
|
|
||
| <joint name="${parent_link.rstrip('_link')}_to_${prefix}slamtec_rplidar_s2_joint" type="fixed"> | ||
| <origin xyz="${xyz}" rpy="${rpy}" /> | ||
| <parent link="${parent_link}" /> | ||
| <child link="${prefix}slamtec_rplidar_s2_link" /> | ||
| </joint> | ||
|
|
||
| <link name="${prefix}slamtec_rplidar_s2_link"> | ||
| <visual> | ||
| <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> | ||
| <geometry> | ||
| <mesh filename="file://$(find ros_components_description)/meshes/slamtec_rplidar_s2.dae" /> | ||
| </geometry> | ||
| </visual> | ||
|
|
||
| <!-- base and head collision --> | ||
| <collision> | ||
| <origin xyz="0.0 0.0 ${0.038857/2.0}" rpy="0.0 0.0 0.0" /> | ||
| <geometry> | ||
| <box size="0.077 0.076856 0.038857" /> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <inertial> | ||
| <origin xyz="0.0 -0.000021 ${0.038857/2.0 + 0.0017953}" rpy="0.0 0.0 0.0" /> | ||
| <mass value="0.104949" /> | ||
| <inertia ixx="0.00005071491" ixy="0.0" ixz="0.0" | ||
| iyy="0.00005064080" iyz="0.0" | ||
| izz="0.000075682018" /> | ||
| </inertial> | ||
| </link> | ||
|
|
||
| <joint name="${prefix}slamtec_rplidar_s2_to_${prefix}${frame_id.rstrip('_link')}_joint" type="fixed"> | ||
| <origin xyz="0.0 0.0 0.0285" rpy="0.0 0.0 ${pi}" /> | ||
| <parent link="${prefix}slamtec_rplidar_s2_link" /> | ||
| <child link="${prefix}${frame_id}" /> | ||
| </joint> | ||
|
|
||
| <link name="${prefix}${frame_id}" /> | ||
|
|
||
| <xacro:if value="${simulation_engine == 'ignition-gazebo'}"> | ||
| <gazebo reference="${prefix}${frame_id}"> | ||
| <sensor type="${ray_type}" name="${prefix}rplidar_s2_sensor"> | ||
|
|
||
| <topic>${topic}</topic> | ||
| <frame_id>${prefix}${frame_id}</frame_id> | ||
| <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id> | ||
|
|
||
| <update_rate>10.0</update_rate> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>3000</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>-${pi}</min_angle> | ||
| <max_angle>${pi}</max_angle> | ||
| </horizontal> | ||
| </scan> | ||
| <range> | ||
| <min>0.05</min> | ||
| <max>30.0</max> | ||
| <resolution>0.03</resolution> | ||
| </range> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.001</stddev> | ||
| </noise> | ||
| </ray> | ||
| <always_on>1</always_on> | ||
| <visualize>false</visualize> | ||
| </sensor> | ||
| </gazebo> | ||
| <gazebo> | ||
| <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
| </gazebo> | ||
| </xacro:if> | ||
|
|
||
| <xacro:if value="${simulation_engine == 'gazebo-classic'}"> | ||
| <gazebo reference="${prefix}${frame_id}"> | ||
| <sensor type="${ray_type}" name="${prefix}slamtec_rplidar_s2_sensor"> | ||
| <visualize>false</visualize> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>3000</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>-${pi}</min_angle> | ||
| <max_angle>${pi}</max_angle> | ||
| </horizontal> | ||
| </scan> | ||
| <range> | ||
| <min>0.05</min> | ||
| <max>30.0</max> | ||
| <resolution>0.013</resolution> | ||
| </range> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.03</stddev> | ||
| </noise> | ||
| </ray> | ||
|
|
||
| <update_rate>10.0</update_rate> | ||
|
|
||
| <plugin name="scan" filename="libgazebo_ros_ray_sensor.so"> | ||
| <ros> | ||
| <namespace></namespace> | ||
| <remapping>~/out:=${topic}</remapping> | ||
| </ros> | ||
| <output_type>sensor_msgs/LaserScan</output_type> | ||
| <frame_name>${prefix}${frame_id}</frame_name> | ||
| </plugin> | ||
| </sensor> | ||
| </gazebo> | ||
| </xacro:if> | ||
| </xacro:macro> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,155 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:macro name="slamtec_rplidar_s3" | ||
| params="parent_link xyz rpy | ||
| use_gpu:=false | ||
| tf_prefix:=None | ||
| topic:=scan | ||
| frame_id:=laser | ||
| simulation_engine:=gazebo-classic"> | ||
|
|
||
| <xacro:if value="${use_gpu}"> | ||
| <xacro:if value="${simulation_engine == 'gazebo-classic'}"> | ||
| <xacro:property name="ray_type" value="gpu_ray" /> | ||
| </xacro:if> | ||
| <xacro:if value="${simulation_engine == 'ignition-gazebo'}"> | ||
| <xacro:property name="ray_type" value="gpu_lidar" /> | ||
| </xacro:if> | ||
| </xacro:if> | ||
| <xacro:unless value="${use_gpu}"> | ||
| <xacro:if value="${simulation_engine == 'gazebo-classic'}"> | ||
| <xacro:property name="ray_type" value="ray" /> | ||
| </xacro:if> | ||
| <xacro:if value="${simulation_engine == 'ignition-gazebo'}"> | ||
| <!-- use_gpu has to be set to true, CPU lidar doesn't work in ignition - | ||
| https://github.com/gazebosim/gz-sensors/issues/26 --> | ||
| <xacro:property name="ray_type" value="lidar" /> | ||
| </xacro:if> | ||
| </xacro:unless> | ||
|
|
||
| <xacro:if value="${tf_prefix == 'None'}"> | ||
| <xacro:property name="prefix" value="" /> | ||
| </xacro:if> | ||
| <xacro:unless value="${tf_prefix == 'None'}"> | ||
| <xacro:property name="prefix" value="${tf_prefix}_" /> | ||
| </xacro:unless> | ||
|
|
||
| <joint name="${parent_link.rstrip('_link')}_to_${prefix}slamtec_rplidar_s3_joint" type="fixed"> | ||
| <origin xyz="${xyz}" rpy="${rpy}" /> | ||
| <parent link="${parent_link}" /> | ||
| <child link="${prefix}slamtec_rplidar_s3_link" /> | ||
| </joint> | ||
|
|
||
| <link name="${prefix}slamtec_rplidar_s3_link"> | ||
| <visual> | ||
| <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> | ||
| <geometry> | ||
| <mesh filename="file://$(find ros_components_description)/meshes/slamtec_rplidar_s3.dae" /> | ||
| </geometry> | ||
| </visual> | ||
|
|
||
| <!-- base and head collision --> | ||
| <collision> | ||
| <origin xyz="0.0 0.0 ${0.0413/2.0}" rpy="0.0 0.0 0.0" /> | ||
| <geometry> | ||
| <box size="0.0556 0.0556 0.0413" /> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <inertial> | ||
| <origin xyz="0.0 0.0 ${0.0413/2.0 + 0.0018237}" rpy="0.0 0.0 0.0" /> | ||
| <mass value="0.115033" /> | ||
| <inertia ixx="0.00004115765" ixy="0.0" ixz="0.0" | ||
| iyy="0.00004115765" iyz="0.0" | ||
| izz="0.00004956023" /> | ||
| </inertial> | ||
| </link> | ||
|
|
||
| <joint name="${prefix}slamtec_rplidar_s3_to_${prefix}${frame_id.rstrip('_link')}_joint" type="fixed"> | ||
| <origin xyz="0.0 0.0 0.0305" rpy="0.0 0.0 ${pi}" /> | ||
| <parent link="${prefix}slamtec_rplidar_s3_link" /> | ||
| <child link="${prefix}${frame_id}" /> | ||
| </joint> | ||
|
|
||
| <link name="${prefix}${frame_id}" /> | ||
|
|
||
| <xacro:if value="${simulation_engine == 'ignition-gazebo'}"> | ||
| <gazebo reference="${prefix}${frame_id}"> | ||
| <sensor type="${ray_type}" name="${prefix}rplidar_s3_sensor"> | ||
|
|
||
| <topic>${topic}</topic> | ||
| <frame_id>${prefix}${frame_id}</frame_id> | ||
| <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id> | ||
|
|
||
| <update_rate>10.0</update_rate> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>3000</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>-${pi}</min_angle> | ||
| <max_angle>${pi}</max_angle> | ||
| </horizontal> | ||
| </scan> | ||
| <range> | ||
| <min>0.05</min> | ||
| <max>40.0</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.03</stddev> | ||
| </noise> | ||
| </ray> | ||
| <always_on>1</always_on> | ||
| <visualize>false</visualize> | ||
| </sensor> | ||
| </gazebo> | ||
| <gazebo> | ||
| <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
| </gazebo> | ||
| </xacro:if> | ||
|
|
||
| <xacro:if value="${simulation_engine == 'gazebo-classic'}"> | ||
| <gazebo reference="${prefix}${frame_id}"> | ||
| <sensor type="${ray_type}" name="${prefix}slamtec_rplidar_s3_sensor"> | ||
| <visualize>false</visualize> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>3200</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>-${pi}</min_angle> | ||
| <max_angle>${pi}</max_angle> | ||
| </horizontal> | ||
| </scan> | ||
| <range> | ||
| <min>0.05</min> | ||
| <max>40.0</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.001</stddev> | ||
| </noise> | ||
| </ray> | ||
|
|
||
| <update_rate>10.0</update_rate> | ||
|
|
||
| <plugin name="scan" filename="libgazebo_ros_ray_sensor.so"> | ||
| <ros> | ||
| <namespace></namespace> | ||
| <remapping>~/out:=${topic}</remapping> | ||
| </ros> | ||
| <output_type>sensor_msgs/LaserScan</output_type> | ||
| <frame_name>${prefix}${frame_id}</frame_name> | ||
| </plugin> | ||
| </sensor> | ||
| </gazebo> | ||
| </xacro:if> | ||
| </xacro:macro> | ||
| </robot> |