Correct parameters to laser type sensor
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>