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Merge pull request #3 from ori-drs/feat/consistent-frames
Consistent frames for QT64 and XT32 lidars
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| # hesai_description | ||
| URDF Model of hesai lidar products | ||
| This package contains a **URDF Xacro description of the Hesai XT32 and QT64 lidars**. In simulation the Gazebo Velodyne plug-in is used. The meshes were obtained from the original CAD provided by Hesai. | ||
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| The mesh was obtained from the original CAD provided by HESAI. | ||
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| This repository is not associated to or maintained by HESAI. | ||
| This repository is not associated to or maintained by Hesai. |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <!-- Copyright 2024 University of Oxford | ||
| 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. | ||
| --> | ||
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| <xacro:macro name="hesai_gazebo" params="lidar_frame:=pandar topic_name=/hesai/pandar | ||
| min_range:=0.4 max_range:=80.0 min_horizontal_angle:=-180.0 max_horizontal_angle:=180.0 | ||
| min_vertical_angle:=-16.0 max_vertical_angle:=15.0 hz:=10 samples:=2000 lasers:=32 | ||
| collision_range:=0.3 noise:=0.008 visualize:=false use_gpu:=true"> | ||
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| <gazebo reference="${lidar_frame}"> | ||
| <xacro:if value="${use_gpu}"> | ||
| <xacro:property name="ray_type" value="gpu_ray" /> | ||
| <xacro:property name="laser_plugin" value="libgazebo_ros_velodyne_gpu_laser.so" /> | ||
| </xacro:if> | ||
| <xacro:unless value="${use_gpu}"> | ||
| <xacro:property name="ray_type" value="ray" /> | ||
| <xacro:property name="laser_plugin" value="libgazebo_ros_velodyne_laser.so" /> | ||
| </xacro:unless> | ||
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| <sensor type="${ray_type}" name="hesai_sensor"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <visualize>${visualize}</visualize> | ||
| <update_rate>${hz}</update_rate> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>${samples}</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>${min_horizontal_angle*pi/180.0}</min_angle> | ||
| <max_angle>${max_horizontal_angle*pi/180.0}</max_angle> | ||
| </horizontal> | ||
| <vertical> | ||
| <samples>${lasers}</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>${min_vertical_angle*pi/180.0}</min_angle> | ||
| <max_angle>${max_vertical_angle*pi/180.0}</max_angle> | ||
| </vertical> | ||
| </scan> | ||
| <range> | ||
| <min>${collision_range}</min> | ||
| <max>${max_range+1}</max> | ||
| <resolution>0.001</resolution> | ||
| </range> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.0</stddev> | ||
| </noise> | ||
| </ray> | ||
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| <plugin name="gazebo_ros_laser_controller" filename="${laser_plugin}"> | ||
| <topicName>${topic_name}</topicName> | ||
| <frameName>${lidar_frame}</frameName> | ||
| <min_range>${min_range}</min_range> | ||
| <max_range>${max_range}</max_range> | ||
| <gaussianNoise>${noise}</gaussianNoise> | ||
| </plugin> | ||
| </sensor> | ||
| </gazebo> | ||
| </xacro:macro> | ||
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| </robot> |
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| <?xml version="1.0"?> | ||
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| <!-- Copyright 2022 University of Oxford | ||
| 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. | ||
| --> | ||
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| <!-- Hesai PandarQT-64 Lidar Sensor --> | ||
| <robot name="hesai_qt64" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:arg name="simulation" default="false"/> | ||
| <xacro:arg name="use_gpu" default="true"/> | ||
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| <xacro:macro name="hesai_qt64_device" params="parent *origin name:=pandar_xt32_lidar simulation:=false lidar_frame:=pandar use_gpu:=true"> | ||
| <joint name="${parent}_to_hesai" type="fixed"> | ||
| <xacro:insert_block name="origin"/> | ||
| <parent link="${parent}" /> | ||
| <child link="hesai_base" /> | ||
| </joint> | ||
| <link name="hesai_base"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <!-- If mesh is not available: --> | ||
| <!--origin xyz="0 0 38.0e-3" rpy="0 0 0" /--> | ||
| <geometry> | ||
| <!-- If mesh is not available: --> | ||
| <!--cylinder radius="51.500e-3" length="76.0e-3" /--> | ||
| <mesh filename="package://hesai_description/urdf/meshes/PandarQT64_model.dae" /> | ||
| </geometry> | ||
| </visual> | ||
| <inertial> | ||
| <!-- CoM taken from CAD assuming constant density and mass 0.807 (best approximation available to real mass) --> | ||
| <origin xyz="-0.015e-3 0.0 37.494e-3" rpy="0 0 0" /> | ||
| <!-- mass taken from Hesai datasheet --> | ||
| <mass value="0.807" /> | ||
| <!-- Inertia tensor from CAD assuming constant density and mass 0.807 (best approximation vailable to real mass) --> | ||
| <inertia ixx="886.81e-6" ixy="5.802e-11" ixz="-0.34e-6" iyy="898.12e-6" iyz="-0.014e-6" izz="1004.287e-6" /> | ||
| </inertial> | ||
| <collision> | ||
| <origin xyz="0 0 38.0e-3"/> | ||
| <geometry> | ||
| <cylinder radius="51.500e-3" length="76.0e-3" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="${lidar_frame}"/> | ||
| <joint name="hesai_base_to_pandar" type="fixed"> | ||
| <!-- See page 12 of QT64 User Manual --> | ||
| <!-- note that the X axis points left. See manual page 11 --> | ||
| <origin xyz="0.0 0.0 50.4e-3" rpy="0.0 0.0 ${pi/2}"/> | ||
| <parent link="hesai_base"/> | ||
| <child link="${lidar_frame}" /> | ||
| </joint> | ||
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| <xacro:if value="${simulation}"> | ||
| <xacro:include filename="$(find hesai_description)/urdf/gazebo.urdf.xacro"/> | ||
| <xacro:hesai_gazebo lidar_frame="${lidar_frame}" topic_name="/hesai/pandar" min_range="0.1" max_range="20.0" | ||
| min_horizontal_angle="-180.0" max_horizontal_angle="180.0" min_vertical_angle="-52.1" max_vertical_angle="52.1" | ||
| hz="10" samples="600" lasers="64" collision_range="0.3" noise="0.008" use_gpu="${use_gpu}" | ||
| /> | ||
| </xacro:if> | ||
| </xacro:macro> | ||
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| </robot> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,28 @@ | ||
| <?xml version="1.0"?> | ||
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| <!-- Copyright 2022 University of Oxford | ||
| 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. --> | ||
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| <robot name="hesai" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:include filename="$(find hesai_description)/urdf/hesai_xt32.urdf.xacro" /> | ||
| <xacro:arg name="simulation" default="false" /> | ||
| <xacro:arg name="use_gpu" default="true" /> | ||
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| <!-- Dummy link --> | ||
| <link name="base"/> | ||
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| <xacro:hesai_xt32_device parent="base" simulation="$(arg simulation)" use_gpu="$(arg use_gpu)" > | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| </xacro:hesai_xt32_device> | ||
| </robot> |
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