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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from src/velodyne_simulator/velodyne_description/urdf/example.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="example">
<!-- Base Footprint -->
<link name="base_footprint"/>
<!-- Base Link -->
<joint name="footprint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
</joint>
<link name="base_link">
<visual>
<geometry>
<box size="0.5 0.5 0.1"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.5 0.5 0.1"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="3.0" ixy="0.0" ixz="0.0" iyy="3.0" iyz="0.0" izz="3.0"/>
</inertial>
</link>
<joint name="velodyne_base_mount_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.4"/>
<parent link="base_link"/>
<child link="velodyne_base_link"/>
</joint>
<link name="velodyne_base_link">
<inertial>
<mass value="0.1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
</geometry>
</visual>
<visual>
<geometry>
<mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.03585"/>
<geometry>
<cylinder length="0.0717" radius="0.0516"/>
</geometry>
</collision>
</link>
<joint name="velodyne_base_scan_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0377"/>
<parent link="velodyne_base_link"/>
<child link="velodyne"/>
</joint>
<link name="velodyne">
<inertial>
<mass value="0.1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin xyz="0 0 -0.0377"/>
<geometry>
<mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
</geometry>
</visual>
</link>
<!-- Gazebo requires the velodyne_gazebo_plugins package -->
<gazebo reference="velodyne">
<sensor name="velodyne-VLP16" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>1875</samples>
<resolution>1</resolution>
<min_angle>-3.14159265359</min_angle>
<max_angle> 3.14159265359</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<resolution>1</resolution>
<min_angle>-0.261799387799</min_angle>
<max_angle> 0.261799387799</max_angle>
</vertical>
</scan>
<range>
<min>0.055</min>
<max>140.0</max>
<resolution>0.001</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.0</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_velodyne_laser.so" name="gazebo_ros_laser_controller">
<topicName>/velodyne_points</topicName>
<frameName>velodyne</frameName>
<min_range>0.9</min_range>
<max_range>130.0</max_range>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
</gazebo>
<joint name="velodyne2_base_mount_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<parent link="base_link"/>
<child link="velodyne2_base_link"/>
</joint>
<link name="velodyne2_base_link">
<inertial>
<mass value="0.1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://velodyne_description/meshes/HDL32E_base.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.07212"/>
<geometry>
<cylinder length="0.14424" radius="0.04267"/>
</geometry>
</collision>
</link>
<joint name="velodyne2_base_scan_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.09081"/>
<parent link="velodyne2_base_link"/>
<child link="velodyne2"/>
</joint>
<link name="velodyne2">
<inertial>
<mass value="0.1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.09081"/>
<geometry>
<mesh filename="package://velodyne_description/meshes/HDL32E_scan.dae"/>
</geometry>
</visual>
</link>
<!-- Gazebo requires the velodyne_gazebo_plugins package -->
<gazebo reference="velodyne2">
<sensor name="velodyne2-HDL32E" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>2187</samples>
<!-- Change this to 500 if gazebo keeps timing out -->
<resolution>1</resolution>
<min_angle>-3.14159265359</min_angle>
<max_angle> 3.14159265359</max_angle>
</horizontal>
<vertical>
<samples>32</samples>
<resolution>1</resolution>
<min_angle>-0.535292481587</min_angle>
<max_angle> 0.186226631188</max_angle>
</vertical>
</scan>
<range>
<min>0.055</min>
<max>140.0</max>
<resolution>0.001</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.0</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_velodyne_laser.so" name="gazebo_ros_laser_controller">
<topicName>/velodyne_points2</topicName>
<frameName>/velodyne2</frameName>
<min_range>0.9</min_range>
<max_range>130.0</max_range>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
</gazebo>
</robot>
4ce6a5cccThis file is pinned to the selected release. Download the original to open it in your design tool.