hokuyo_ust10.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:macro name="hokuyo_ust10_mount" params="prefix topic parent_link min_angle:=-2.35619 max_angle:=2.35619 *origin">

    <xacro:macro name="hokuyo_ust10" params="frame:=laser topic:=scan sample_size:=720 update_rate:=50
               min_angle:=${min_angle} max_angle:=${max_angle} 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>
      </link>

      <gazebo reference="${frame}">
        <turnGravityOff>true</turnGravityOff>
        <sensor type="ray" name="${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_ray_sensor.so">
            <ros>
              <namespace>${robot_namespace}</namespace>
              <remapping>~/out:=${topic}</remapping>
            </ros>
            <output_type>sensor_msgs/LaserScan</output_type>
            <frame_name>${frame}</frame_name>
          </plugin>
        </sensor>
      </gazebo>
    </xacro:macro>

    <xacro:hokuyo_ust10 frame="${prefix}_laser" topic="${topic}"/>

    <joint name="${prefix}_laser_mount_joint" type="fixed">
      <xacro:insert_block name="origin" />
      <parent link="${parent_link}" />
      <child link="${prefix}_laser_mount" />
    </joint>

    <link name="${prefix}_laser_mount">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <!-- Origin of this mesh is the base of the bracket. -->
          <mesh filename="package://urg_node/meshes/hokuyo_ust10.stl" />
        </geometry>
        <material name="dark_grey" />
      </visual>
    </link>

    <joint name="${prefix}_laser_joint" type="fixed">
      <!-- This offset is from the base of the bracket to the LIDAR's focal point. -->
      <origin xyz="0 0 0.0474" rpy="0 0 0" />
      <parent link="${prefix}_laser_mount" />
      <child link="${prefix}_laser" />
    </joint>

    <gazebo reference="${prefix}_laser_mount">
      <material>Gazebo/DarkGrey</material>
    </gazebo>

  </xacro:macro>

</robot>