Correct parameters to laser type sensor

asked 2017-06-01 05:08:21 -0500

jbga gravatar image

updated 2017-06-06 06:38:47 -0500

I am trying to simulate a Hokuyo UST-10LX Scanning Laser Rangefinder presented in this link: http://www.robotshop.com/en/hokuyo-us...

The laser specifications have the following parameters regarding laser accuracy: Accuracy : ±40mm Repeated accuracy : σ< 30mm

The laser repeated accuracy is encoded in the stddev param. My question come from the fact that I don't know if there is any parameter to set the laser accuracy. Now my laser sensor configuration is the following:

 <sensor type="ray" name="hokuyo_sensor">
            <pose>
                0 0.2 ${(laser_optical_height+laser_length/2)+ground_to_base+0.1}
                0 0 ${PI/2}
            </pose>
            <visualize>false</visualize>
            <update_rate>10</update_rate>
            <ray>
                <scan>
                    <horizontal>
                        <samples>270</samples>
                        <resolution>1</resolution><!--(max_angle-min_angle)/samples * resolution -->
                        <min_angle>-2.35</min_angle>
                        <max_angle>2.35</max_angle>
                    </horizontal>
                </scan>
                <range>
                    <min>0.05</min>
                    <max>10.0</max>
                    <resolution>0.01</resolution>
                </range>
                <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.03</stddev>
                </noise>
            </ray>
            <plugin name="laser" filename="libgazebo_ros_laser.so">
                <topicName>/laser/scan</topicName>
                <frameName>laser_link</frameName>
            </plugin>
</sensor>
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