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+ + + + + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518912 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 7.54979e-11 -7.54979e-11 0.001 0 0.001 0 -7.54979e-11 0 0 0.001 7.54979e-11 0 0 0 0 1 + + + + + + + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/LW20/model.config b/models/LW20/model.config new file mode 100644 index 0000000..139dc8d --- /dev/null +++ b/models/LW20/model.config @@ -0,0 +1,21 @@ + + + + LW20 + 1.0 + model.sdf + + + Claudio Chies + claudio.chies@auterion.com + + + + A Lightware LW20/C Lidar Model + + diff --git a/models/LW20/model.sdf b/models/LW20/model.sdf new file mode 100644 index 0000000..eb4aa88 --- /dev/null +++ b/models/LW20/model.sdf @@ -0,0 +1,35 @@ + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.02 + + 0.000004 + 0 + 0 + 0.000004 + 0 + 0.000002 + + + + 0 0 0 0 0 0 + + + 0.03 0.02 0.043 + + + + + + + model://LW20/meshes/LW20.dae + + + + + + diff --git a/models/lidar_2d_v2/model.sdf b/models/lidar_2d_v2/model.sdf index ab20938..df65968 100644 --- a/models/lidar_2d_v2/model.sdf +++ b/models/lidar_2d_v2/model.sdf @@ -47,7 +47,7 @@ - + 0 0 0.055 0 0 0 @@ -73,7 +73,6 @@ 30 false - diff --git a/models/x500_lidar/model.config b/models/x500_lidar_2d/model.config similarity index 89% rename from models/x500_lidar/model.config rename to models/x500_lidar_2d/model.config index 9048d23..9f3c71a 100644 --- a/models/x500_lidar/model.config +++ b/models/x500_lidar_2d/model.config @@ -1,6 +1,6 @@ - x500-lidar + x500_lidar_2d 1.0 model.sdf diff --git a/models/x500_lidar/model.sdf b/models/x500_lidar_2d/model.sdf similarity index 94% rename from models/x500_lidar/model.sdf rename to models/x500_lidar_2d/model.sdf index c87e7d0..3805d61 100644 --- a/models/x500_lidar/model.sdf +++ b/models/x500_lidar_2d/model.sdf @@ -1,6 +1,6 @@ - + x500 diff --git a/models/x500_lidar_down/model.config b/models/x500_lidar_down/model.config new file mode 100644 index 0000000..e8ae81b --- /dev/null +++ b/models/x500_lidar_down/model.config @@ -0,0 +1,11 @@ + + + x500_lidar_down + 1.0 + model.sdf + + Claudio Chies + claudio.chies@auterion.com + + An x500 a lidar pointing down. + diff --git a/models/x500_lidar_down/model.sdf b/models/x500_lidar_down/model.sdf new file mode 100644 index 0000000..228139d --- /dev/null +++ b/models/x500_lidar_down/model.sdf @@ -0,0 +1,63 @@ + + + + false + + x500 + + + model://LW20 + 0 0 -0.079 0 1.57 0 + + + base_link + lw20_link + -0 0 0 0 0 0 + + + base_link + lidar_sensor_link + + + 0 0 -0.05 0 1.57 0 + + 0.001 + + 0.00001 + 0.00001 + 0.00001 + 0.0 + 0.0 + 0.0 + + + " + 0 0 0 3.14 0 0 + 50 + + + + 1 + 1 + 0 + 0 + + + 1 + 1 + 0 + 0 + + + + 0.1 + 100.0 + 0.01 + + + 1 + true + + + + diff --git a/models/x500_lidar_front/model.config b/models/x500_lidar_front/model.config new file mode 100644 index 0000000..edf06eb --- /dev/null +++ b/models/x500_lidar_front/model.config @@ -0,0 +1,11 @@ + + + x500_lidar_front + 1.0 + model.sdf + + Claudio Chies + claudio.chies@auterion.com + + An x500 a lidar pointing to the front for collision prevention + diff --git a/models/x500_lidar_front/model.sdf b/models/x500_lidar_front/model.sdf new file mode 100644 index 0000000..c495b7b --- /dev/null +++ b/models/x500_lidar_front/model.sdf @@ -0,0 +1,62 @@ + + + + + x500 + + + model://LW20 + .15 0 .01 0 0 0 + + + base_link + lw20_link + -0 0 0 0 0 0 + + + 0.3 0 0.01 0 0 0 + + 0.001 + + 0.00001 + 0.00001 + 0.00001 + 0.0 + 0.0 + 0.0 + + + " + .15 0 .01 1.57 0 0 + 50 + + + + 1 + 1 + 0 + 0 + + + 1 + 1 + 0 + 0 + + + + 0.1 + 100.0 + 0.01 + + + 1 + true + + + + base_link + lidar_sensor_link + + +