61 lines
1.6 KiB
Plaintext
61 lines
1.6 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="noisy_ray">
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<pose>0 0 0.1 0 0 0</pose>
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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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<collision name="collision">
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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</visual>
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<sensor name="laser" type="ray">
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<pose>0.1 0 0.0175 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>-1.26889</min_angle>
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<max_angle>1.268899</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.1</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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<noise>
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<type>custom</type>
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</noise>
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</ray>
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<plugin name="laser" filename="libRaySensorNoisePlugin.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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