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Merge pull request #1 from nlunscher-cpr/os0-32
add os0-32 description
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‎ouster_description/urdf/OS0-32.urdf.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="OS0-32">
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<xacro:property name="M_PI" value="3.1415926535897931" />
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<xacro:macro name="OS0-32" params="*origin parent:=base_link name:=os0_sensor topic_points:=/os0_cloud_node/points topic_imu:=/os0_cloud_node/imu hz:=10 lasers:=32 samples:=512 min_range:=0.9 max_range:=75.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI} lidar_link:=os0_lidar imu_link:=os0_imu vfov_min:=-0.785398 vfov_max:=0.785398">
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<joint name="${name}_mount_joint" type="fixed">
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<xacro:insert_block name="origin" />
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<parent link="${parent}"/>
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<child link="${name}_base_link"/>
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</joint>
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<link name="${name}_base_link" />
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<joint name="${name}_base_to_baseplate" type="fixed">
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<parent link="${name}_base_link"/>
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<child link="${name}_baseplate" />
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<origin xyz="0 0 0.008"/>
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</joint>
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<link name="${name}_baseplate">
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<visual>
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<geometry>
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<box size="0.112 0.112 0.016" />
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</geometry>
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<material name="silver">
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<color rgba="0.5 0.5 0.5 1.0" />
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.112 0.112 0.016" />
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</geometry>
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</collision>
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</link>
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<joint name="${name}_baseplate_to_body" type="fixed">
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<parent link="${name}_baseplate"/>
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<child link="${name}"/>
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<origin xyz="0 0 0.042" rpy="0 0 0" />
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</joint>
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<link name="${name}">
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<inertial>
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<mass value="0.33"/>
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<origin xyz="0 0 0.0365" rpy="0 0 0" />
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<inertia ixx="0.000241148" ixy="0" ixz="0"
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iyy="0.000241148" iyz="0" izz="0.000264"/>
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</inertial>
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<collision name="base_collision">
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<origin xyz="0 0 0.0365" rpy="0 0 0" />
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<geometry>
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<cylinder radius="0.04" length="0.073"/>
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</geometry>
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</collision>
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<visual name="base_visual">
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<origin xyz="0 0 0.0" rpy="0 0 1.5707" />
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<geometry>
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<mesh filename="package://ouster_description/meshes/os1_64.dae" />
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<!-- <cylinder length="0.073" radius="0.04" /> -->
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</geometry>
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</visual>
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</link>
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<link name="${imu_link}" />
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<link name="${lidar_link}" />
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<joint name="${name}_imu_link_joint" type="fixed">
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<parent link="${name}" />
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<child link="${imu_link}" />
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<origin xyz="0.006253 -0.011775 0.007645" rpy="0 0 0" />
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</joint>
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<gazebo reference="${imu_link}">
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</gazebo>
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<joint name="${name}_lidar_link_joint" type="fixed">
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<parent link="${name}" />
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<child link="${lidar_link}" />
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<origin xyz="0.0 0.0 0.03618" rpy="0 0 0" />
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</joint>
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<!-- Gazebo requires the ouster_gazebo_plugins package -->
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<gazebo reference="${name}">
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<sensor type="ray" name="${name}-OS0-32">
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<pose>0 0 0 0 0 0</pose>
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<visualize>false</visualize>
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<update_rate>${hz}</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>${samples}</samples>
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<resolution>1</resolution>
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<min_angle>${min_angle}</min_angle>
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<max_angle>${max_angle}</max_angle>
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</horizontal>
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<vertical>
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<samples>${lasers}</samples>
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<resolution>1</resolution>
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<min_angle>${vfov_min}</min_angle>
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<max_angle>${vfov_max}</max_angle>
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</vertical>
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</scan>
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<range>
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<min>${min_range}</min>
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<max>${max_range}</max>
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<resolution>0.03</resolution>
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</range>
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</ray>
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<plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_ouster_laser.so">
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<topicName>${topic_points}</topicName>
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<frameName>${lidar_link}</frameName>
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<min_range>${min_range}</min_range>
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<max_range>${max_range}</max_range>
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<gaussianNoise>${noise}</gaussianNoise>
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</plugin>
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</sensor>
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</gazebo>
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<!-- IMU -->
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<gazebo>
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<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
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<robotNamespace>/</robotNamespace>
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<updateRate>100.0</updateRate>
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<bodyName>${imu_link}</bodyName>
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<topicName>${topic_imu}</topicName>
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<accelDrift>0.005 0.005 0.005</accelDrift>
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<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
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<rateDrift>0.005 0.005 0.005 </rateDrift>
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<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
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<headingDrift>0.005</headingDrift>
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<headingGaussianNoise>0.005</headingGaussianNoise>
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</plugin>
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</gazebo>
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</xacro:macro>
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</robot>

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