45 lines
1.1 KiB
Plaintext
45 lines
1.1 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<include>
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<pose>1 0 0 0 0 0</pose>
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<static>true</static>
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<uri>model://cordless_drill</uri>
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</include>
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<model name="hokuyo">
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<static>true</static>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<sensor name="laser" type="ray">
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<pose>0.01 0 0.20 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>20</samples>
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<resolution>1</resolution>
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<min_angle>-0.16889</min_angle>
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<max_angle>0.168899</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.08</min>
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<max>10</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<plugin name="laser" filename="libRayPlugin.so" />
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</world>
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</sdf>
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