Unverified Commit d728b10c authored by Simon Thomas's avatar Simon Thomas
Browse files

Update xacro for close range simulation

parent a443e50a
......@@ -39,3 +39,4 @@ URDF description and Gazebo plugins to simulate Robosense laser scanners. Cloned
# Example Gazebo Robot (with GPU)
```roslaunch robosense_description example.launch gpu:=true```
# robosense_simulator_release
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="RS-16">
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:macro name="RS-16" params="*origin parent:=base_link name:=robosense topic:=/robosense_points hz:=20 lasers:=16 samples:=900 collision_range:=0.4 min_range:=0.4 max_range:=150.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI} gpu:=false">
<xacro:macro name="RS-16" params="*origin parent:=base_link name:=robosense topic:=/robosense_points hz:=20 lasers:=16 samples:=900 collision_range:=0.1 min_range:=0.1 max_range:=150.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI} gpu:=false">
<joint name="${name}_base_mount_joint" type="fixed">
<xacro:insert_block name="origin" />
......
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