erratic_block_laser.xacro

<?xml version="1.0"?>

<robot
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

    <macro name="erratic_block_laser" params="parent *origin">
        <joint name="block_laser_base_mount_joint" type="fixed">
            <insert_block name="origin" />
            <parent link="${parent}"/>
            <child link="block_laser_base_link"/>
        </joint>

        <link name="block_laser_base_link" type="fixed">
            <inertial>
                <mass value="0.1"/>
                <origin xyz="0 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 0.025"/>
                <geometry>
                    <box size="0.05 0.05 0.05"/>
                </geometry>
            </visual>

            <collision>
                <origin rpy="0 0 0" xyz="0 0 0.025"/>
                <geometry>
                    <box size="0.05 0.05 0.05"/>
                </geometry>
            </collision>
        </link>

        <joint name="base_block_laser_joint" type="fixed" >
            <origin xyz="0 0 0.05" rpy="0 0 0" />
            <parent link="block_laser_base_link" />
            <child link="base_block_laser_link"/>
        </joint>

        <link name="base_block_laser_link" type="laser">
            <inertial>
                <mass value="0.1"/>
                <origin xyz="0 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 0.014"/>
                <geometry>
                    <cylinder radius="0.0229" length="0.028"/>
                </geometry>
            </visual>

            <collision>
                <origin rpy="0 0 0" xyz="0 0 0.014"/>
                <geometry>
                    <cylinder radius="0.0229" length="0.028"/>
                </geometry>
            </collision>
        </link>

        <gazebo reference="base_block_laser_link">
<!--          <model:physical name="ray_model">
          </model:physical>-->
<!--    <model:physical name="ray_model">-->
<!--      <body:empty name="ray_body_name">-->
        <sensor:ray name="ray_sensor">
          <rayCount>30</rayCount>
          <rangeCount>30</rangeCount>
          <laserCount>1</laserCount>

          <origin>0.0 0.0 0.05</origin>
          <displayRays>false</displayRays>

          <minAngle>-15</minAngle>
          <maxAngle> 15</maxAngle>

          <minRange>0.05</minRange>
          <maxRange>100.0</maxRange>
          <updateRate>10.0</updateRate>

          <verticalRayCount>30</verticalRayCount>
          <verticalRangeCount>30</verticalRangeCount>
          <verticalMinAngle>-20</verticalMinAngle>
          <verticalMaxAngle>  0</verticalMaxAngle>

          <resRange>2</resRange>

          <controller:gazebo_ros_block_laser name="ray_block_controller" plugin="libgazebo_ros_block_laser.so">
            <gaussianNoise>0.005</gaussianNoise>
            <alwaysOn>true</alwaysOn>
            <updateRate>2.0</updateRate>
            <topicName>full_cloud</topicName>
            <frameName>/base_block_laser_link</frameName>
            <interface:laser name="ray_block_iface" />
          </controller:gazebo_ros_block_laser>
        </sensor:ray>
<!--      </body:empty>-->
<!--    </model:physical>-->
        </gazebo>

        <gazebo reference="laser_base_link">
            <material>Erratic/Grey</material>
        </gazebo>

        <gazebo reference="base_block_laser_link">
            <material>Erratic/Black</material>
        </gazebo>
    </macro>
</robot>