From 7bd7f0b0ff5e8469536222fbba1b0e1ddae11781 Mon Sep 17 00:00:00 2001
From: Bruce Allen <bdallen@nps.edu>
Date: Thu, 11 Jun 2020 11:00:35 -0700
Subject: [PATCH] add laser_retro property for visual component on some sensors

---
 uuv_dave/models/bar/model.sdf             | 1 +
 uuv_dave/models/basement_tank/model.sdf   | 5 +++++
 uuv_dave/models/cylinder_target/model.sdf | 1 +
 uuv_dave/models/sphere_target/model.sdf   | 1 +
 4 files changed, 8 insertions(+)

diff --git a/uuv_dave/models/bar/model.sdf b/uuv_dave/models/bar/model.sdf
index 1522d51a..63dc46be 100644
--- a/uuv_dave/models/bar/model.sdf
+++ b/uuv_dave/models/bar/model.sdf
@@ -11,6 +11,7 @@
         </geometry>
       </collision>
       <visual name ='visual'>
+        <laser_retro>255</laser_retro>
         <geometry>
           <box><size>0.1 0.1 0.5</size></box>
         </geometry>
diff --git a/uuv_dave/models/basement_tank/model.sdf b/uuv_dave/models/basement_tank/model.sdf
index 3802573c..9680af99 100644
--- a/uuv_dave/models/basement_tank/model.sdf
+++ b/uuv_dave/models/basement_tank/model.sdf
@@ -16,6 +16,7 @@
         </geometry>
       </collision>
       <visual name='visual1'>
+        <laser_retro>50</laser_retro>
         <pose frame=''>2.135 3.27 0.005 0 -0 0</pose>
         <geometry>
           <box>
@@ -40,6 +41,7 @@
         </geometry>
       </collision>
       <visual name='visual2'>
+        <laser_retro>50</laser_retro>
         <pose frame=''>-0.005 3.27 1.12 0 -0 0</pose>
         <geometry>
           <box>
@@ -64,6 +66,7 @@
         </geometry>
       </collision>
       <visual name='visual3'>
+        <laser_retro>50</laser_retro>
         <pose frame=''>4.275 3.27 1.12 0 -0 0</pose>
         <geometry>
           <box>
@@ -88,6 +91,7 @@
         </geometry>
       </collision>
       <visual name='visual4'>
+        <laser_retro>50</laser_retro>
         <pose frame=''>2.135 -0.005 1.12 0 -0 0</pose>
         <geometry>
           <box>
@@ -112,6 +116,7 @@
         </geometry>
       </collision>
       <visual name='visual5'>
+        <laser_retro>50</laser_retro>
         <pose frame=''>2.135 6.545 1.12 0 -0 0</pose>
         <geometry>
           <box>
diff --git a/uuv_dave/models/cylinder_target/model.sdf b/uuv_dave/models/cylinder_target/model.sdf
index 941a14be..053e7518 100644
--- a/uuv_dave/models/cylinder_target/model.sdf
+++ b/uuv_dave/models/cylinder_target/model.sdf
@@ -37,6 +37,7 @@
         </surface>
       </collision>
       <visual name='visual'>
+        <laser_retro>255</laser_retro>
         <geometry>
           <cylinder>
             <radius>0.25</radius>
diff --git a/uuv_dave/models/sphere_target/model.sdf b/uuv_dave/models/sphere_target/model.sdf
index b01587ab..fa699847 100644
--- a/uuv_dave/models/sphere_target/model.sdf
+++ b/uuv_dave/models/sphere_target/model.sdf
@@ -17,6 +17,7 @@
         </inertia>
       </inertial>
       <visual name='visual'>
+        <laser_retro>255</laser_retro>
         <geometry>
           <sphere>
             <radius>0.25</radius>