mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-12-03 12:05:27 +00:00
66 lines
2.0 KiB
Plaintext
66 lines
2.0 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<joint name="laser_joint" type="fixed">
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<parent link="chassis"/>
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<child link="laser_frame"/>
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<origin xyz="0.122 0 0.212" rpy="0 0 0"/>
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</joint>
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<link name="laser_frame">
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<visual>
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<geometry>
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<cylinder radius="0.05" length="0.04"/>
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</geometry>
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<material name="black"/>
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</visual>
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<visual>
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<origin xyz="0 0 -0.05"/>
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<geometry>
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<cylinder radius="0.01" length="0.1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder radius="0.05" length="0.04"/>
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</geometry>
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</collision>
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<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_cylinder>
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</link>
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<gazebo reference="laser_frame">
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<material>Gazebo/Black</material>
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<sensor name="laser" type="ray">
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<pose> 0 0 0 0 0 0 </pose>
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<visualize>false</visualize>
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<update_rate>10</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<min_angle>-3.14</min_angle>
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<max_angle>3.14</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.3</min>
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<max>12</max>
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</range>
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</ray>
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<plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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<argument>~/out:=scan</argument>
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</ros>
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<output_type>sensor_msgs/LaserScan</output_type>
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<frame_name>laser_frame</frame_name>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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