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Update Velodyne HDL-32 model (tutorial example) #117

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Update Velodyne HDL-32 model (tutorial example) #117

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8 changes: 2 additions & 6 deletions velodyne_hdl32/model.config
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Original file line number Diff line number Diff line change
@@ -1,17 +1,13 @@
<?xml version="1.0"?>

<model>
<name>Velodyne HDL-32</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>

<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
<name>hero</name>
<email>hero@example.com</email>
</author>

<description>
A model of a Velodyne HDL-32 LiDAR sensor.
</description>

</model>
30 changes: 19 additions & 11 deletions velodyne_hdl32/model.sdf
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="velodyne">

<model name="velodyne_hdl-32">

<link name="base">
<pose>0 0 0.029335 0 0 0</pose>
<inertial>
Expand Down Expand Up @@ -31,7 +33,7 @@
</geometry>
</visual>
</link>

<link name="top">
<pose>0 0 0.095455 0 0 0</pose>
<inertial>
Expand All @@ -45,6 +47,7 @@
<iyz>0</iyz>
</inertia>
</inertial>

<collision name="top_collision">
<geometry>
<cylinder>
Expand All @@ -53,6 +56,7 @@
</cylinder>
</geometry>
</collision>

<visual name="top_visual">
<pose>0 0 -0.0376785 0 0 1.5707</pose>
<geometry>
Expand All @@ -62,17 +66,13 @@
</geometry>
</visual>

<sensor type="ray" name="sensor">
<!-- 🔥 Ray Sensor + Noise -->
<sensor type="ray" name="velodyne_sensor">
<pose>0 0 -0.004645 1.5707 0 0</pose>
<visualize>true</visualize>
<update_rate>30</update_rate>
<ray>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.1</stddev>
</noise>

<ray>
<scan>
<horizontal>
<samples>32</samples>
Expand All @@ -83,15 +83,23 @@
</scan>

<range>
<min>0.1</min>
<min>0.05</min>
<max>70</max>
<resolution>0.02</resolution>
</range>

<!-- ✅ Noise 추가 -->
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.1</stddev>
</noise>

</ray>
</sensor>
</link>

<joint type="revolute" name="joint">
<joint type="revolute" name="velodyne_joint">
<pose>0 0 -0.036785 0 0 0</pose>
<parent>base</parent>
<child>top</child>
Expand Down