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Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
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| <?xml version="1.0" ?> | ||
| <!-- | ||
| This world has two boxes: a red one with no retro value and a blue one with | ||
| a retro value of ~ 500 | ||
| You can echo lidar messages using: | ||
| ign topic -e -t /lidar | ||
| and see the intensities of the points corresponding to the blue box filled | ||
| with ~ 500 values | ||
| --> | ||
| <sdf version="1.6"> | ||
| <world name="gpu_lidar_retro_values_sensor"> | ||
| <physics name="1ms" type="ignored"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <plugin | ||
| filename="ignition-gazebo-physics-system" | ||
| name="ignition::gazebo::systems::Physics"> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-sensors-system" | ||
| name="ignition::gazebo::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-scene-broadcaster-system" | ||
| name="ignition::gazebo::systems::SceneBroadcaster"> | ||
| </plugin> | ||
|
|
||
| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.2 0.2 0.2 1</specular> | ||
| <attenuation> | ||
| <range>1000</range> | ||
| <constant>0.9</constant> | ||
| <linear>0.01</linear> | ||
| <quadratic>0.001</quadratic> | ||
| </attenuation> | ||
| <direction>-0.5 0.1 -0.9</direction> | ||
| </light> | ||
|
|
||
| <model name="ground_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <!--plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane--> | ||
| <box> | ||
| <size>20 20 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <!--plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane--> | ||
| <box> | ||
| <size>20 20 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0.8 0.8 0.8 1</ambient> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.8 0.8 0.8 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
|
||
| <model name="box_no_retro_values"> | ||
| <pose>0 -1 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>1</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>1</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>1</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 0 0 1</ambient> | ||
| <diffuse>1 0 0 1</diffuse> | ||
| <specular>1 0 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
|
||
| <model name="box_retro_500"> | ||
| <pose>0 1 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>1</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>1</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>1</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual name="box_visual"> | ||
| <laser_retro>500</laser_retro> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0 0 1 1</ambient> | ||
| <diffuse>0 0 1 1</diffuse> | ||
| <specular>0 0 1 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
|
||
| <model name="model_with_lidar"> | ||
| <pose>4 0 0.5 0 0.0 3.14</pose> | ||
| <link name="link"> | ||
| <pose>0.05 0.05 0.05 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.1</mass> | ||
| <inertia> | ||
| <ixx>0.000166667</ixx> | ||
| <iyy>0.000166667</iyy> | ||
| <izz>0.000166667</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.1 0.1 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.1 0.1 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
|
|
||
| <sensor name='gpu_lidar' type='gpu_lidar'> | ||
| <topic>lidar</topic> | ||
| <update_rate>10</update_rate> | ||
| <lidar> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>640</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>-1.396263</min_angle> | ||
| <max_angle>1.396263</max_angle> | ||
| </horizontal> | ||
| <vertical> | ||
| <samples>16</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>-0.261799</min_angle> | ||
| <max_angle>0.261799</max_angle> | ||
| </vertical> | ||
| </scan> | ||
| <range> | ||
| <min>0.08</min> | ||
| <max>10.0</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| </lidar> | ||
| <alwaysOn>1</alwaysOn> | ||
| <visualize>true</visualize> | ||
| </sensor> | ||
| </link> | ||
|
|
||
| <static>true</static> | ||
| </model> | ||
|
|
||
|
|
||
| </world> | ||
| </sdf> |
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| /* | ||
| * Copyright (C) 2020 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
| #ifndef IGNITION_GAZEBO_COMPONENTS_LASERRETRO_HH_ | ||
| #define IGNITION_GAZEBO_COMPONENTS_LASERRETRO_HH_ | ||
|
|
||
| #include <ignition/gazebo/components/Factory.hh> | ||
| #include <ignition/gazebo/components/Component.hh> | ||
| #include <ignition/gazebo/config.hh> | ||
|
|
||
| namespace ignition | ||
| { | ||
| namespace gazebo | ||
| { | ||
| // Inline bracket to help doxygen filtering. | ||
| inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { | ||
| namespace components | ||
| { | ||
| /// \brief A component used to indicate an lidar reflective value | ||
| using LaserRetro = Component<double, class LaserRetroTag>; | ||
| IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.LaserRetro", | ||
| LaserRetro) | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| #endif |
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