Parameters for ROS Gazebo block laser plugin

asked 2013-05-09 03:54:20 -0500

peshala
197 ●12 ●12 ●20

Hello all,

Can somebody tell me the parameters for ROS Gazebo block laser plugin? I am using ROS-Groovy with gazebo 1.7.1 standalone.

Seems the following syntax is no longer valid

      <displayRays>false</displayRays>          
      <minAngle>-15</minAngle>
      <maxAngle> 15</maxAngle>

      <minRange>0.05</minRange>
      <maxRange>100.0</maxRange>
      <updateRate>10.0</updateRate>

      <verticalRayCount>30</verticalRayCount>
      <verticalRangeCount>30</verticalRangeCount>
      <verticalMinAngle>-20</verticalMinAngle>
      <verticalMaxAngle>  0</verticalMaxAngle>

Thanks

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answered 2013-05-09 04:24:26 -0500

peshala
197 ●12 ●12 ●20

A test .world can be found at /simulator_gazebo/gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world

            <sensor name="sensor_ray" type="ray">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <ray>
                    <scan display="true">
                        <horizontal>
                            <samples>300</samples>
                            <resolution>1.0</resolution>
                            <min_angle>-0.5236</min_angle>
                            <max_angle>0.5236</max_angle>
                        </horizontal>
                        <vertical>
                            <samples>100</samples>
                            <resolution>1.0</resolution>
                            <min_angle>-0.5236</min_angle>
                            <max_angle>0.5236</max_angle>
                        </vertical>
                    </scan>
                    <range>
                        <min>0.05</min>
                        <max>50.0</max>
                    </range>
                </ray>
                <!-- test plugin -->
                <plugin name="plugin_1" filename="libgazebo_ros_block_laser.so">
                    <gaussianNoise>0.00</gaussianNoise>
                    <alwaysOn>true</alwaysOn>
                    <updateRate>20</updateRate>
                    <topicName>test_block_laser</topicName>
                    <frameName>base_link</frameName>
                </plugin>
                <always_on>true</always_on>
                <update_rate>10.0</update_rate>
            </sensor>

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Can you look at the [multisense_sl urdf file](https://bitbucket.org/osrf/drcsim/src/ae950c054dcf3e118d891dd61dbb4ffb82ca5404/ros/multisense_sl_description/urdf/multisense_sl.urdf?at=default) for an example?