diff --git a/CMakeLists.txt b/CMakeLists.txt index 143cd40..1c603e7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,17 +1,9 @@ cmake_minimum_required(VERSION 3.0.2) project(hesai_description) -find_package(catkin REQUIRED COMPONENTS - xacro -) - -catkin_package(CATKIN_DEPENDS xacro) - -set(xacro_files - ${CMAKE_CURRENT_SOURCE_DIR}/urdf/hesai_standalone.urdf.xacro -) +find_package(catkin REQUIRED COMPONENTS) -xacro_add_files(${xacro_files} INSTALL DESTINATION urdf) +catkin_package() install(DIRECTORY config launch urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} diff --git a/README.md b/README.md index 1b5e7bc..29a4f93 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,4 @@ # 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. -The mesh was obtained from the original CAD provided by HESAI. - -This repository is not associated to or maintained by HESAI. +This repository is not associated to or maintained by Hesai. diff --git a/launch/load.launch b/launch/load.launch index d4926ee..f1fb92d 100644 --- a/launch/load.launch +++ b/launch/load.launch @@ -2,7 +2,8 @@ - + + - + diff --git a/launch/view_urdf.launch b/launch/view_urdf.launch index c7eb261..04245db 100644 --- a/launch/view_urdf.launch +++ b/launch/view_urdf.launch @@ -2,9 +2,11 @@ + + diff --git a/package.xml b/package.xml index f8dd49a..4c96783 100644 --- a/package.xml +++ b/package.xml @@ -10,5 +10,5 @@ Apache 2.0 catkin - xacro + xacro diff --git a/urdf/gazebo.urdf.xacro b/urdf/gazebo.urdf.xacro new file mode 100644 index 0000000..268f65d --- /dev/null +++ b/urdf/gazebo.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + ${visualize} + ${hz} + + + + ${samples} + 1 + ${min_horizontal_angle*pi/180.0} + ${max_horizontal_angle*pi/180.0} + + + ${lasers} + 1 + ${min_vertical_angle*pi/180.0} + ${max_vertical_angle*pi/180.0} + + + + ${collision_range} + ${max_range+1} + 0.001 + + + gaussian + 0.0 + 0.0 + + + + + ${topic_name} + ${lidar_frame} + ${min_range} + ${max_range} + ${noise} + + + + + + diff --git a/urdf/hesai_qt64.urdf.xacro b/urdf/hesai_qt64.urdf.xacro new file mode 100644 index 0000000..ce7ee89 --- /dev/null +++ b/urdf/hesai_qt64.urdf.xacro @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/hesai_standalone.urdf.xacro b/urdf/hesai_qt64_standalone.urdf.xacro similarity index 76% rename from urdf/hesai_standalone.urdf.xacro rename to urdf/hesai_qt64_standalone.urdf.xacro index 21fa4be..270cb12 100644 --- a/urdf/hesai_standalone.urdf.xacro +++ b/urdf/hesai_qt64_standalone.urdf.xacro @@ -15,13 +15,14 @@ limitations under the License. --> - + + - + - + diff --git a/urdf/hesai_standalone.urdf b/urdf/hesai_standalone.urdf deleted file mode 100644 index 4399782..0000000 --- a/urdf/hesai_standalone.urdf +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/hesai.urdf.xacro b/urdf/hesai_xt32.urdf.xacro similarity index 73% rename from urdf/hesai.urdf.xacro rename to urdf/hesai_xt32.urdf.xacro index 38ae178..911b0c6 100644 --- a/urdf/hesai.urdf.xacro +++ b/urdf/hesai_xt32.urdf.xacro @@ -17,10 +17,11 @@ - + + - + @@ -54,14 +55,20 @@ - + - + - + + + + diff --git a/urdf/hesai_xt32_standalone.urdf.xacro b/urdf/hesai_xt32_standalone.urdf.xacro new file mode 100644 index 0000000..90e5e9e --- /dev/null +++ b/urdf/hesai_xt32_standalone.urdf.xacro @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + diff --git a/urdf/meshes/PandarQT64_model.dae b/urdf/meshes/PandarQT64_model.dae new file mode 100644 index 0000000..b68a160 --- /dev/null +++ b/urdf/meshes/PandarQT64_model.dae @@ -0,0 +1,56 @@ + + + + + VCGLab + VCGLib | MeshLab + + Tue Apr 2 09:11:59 2024 GMT + Tue Apr 2 09:11:59 2024 GMT + Y_UP + + + + + + -0.00198885 -0.0398504 0.022 3.50565e-09 -0.0401 0.0218 3.48817e-09 -0.0399 0.022 -0.00199882 -0.0400502 0.0218 -0.00397276 -0.0397017 0.022 -0.00399267 -0.0399007 0.0218 -0.00594679 -0.0394544 0.022 -0.00597659 -0.0396521 0.0218 -0.00790603 -0.0391089 0.022 -0.00794566 -0.0393049 0.0218 -0.00984562 -0.0386662 0.022 -0.00989497 -0.03886 0.0218 -0.0117607 -0.0381274 0.022 -0.0118197 -0.0383185 0.0218 -0.0136466 -0.0374937 0.022 -0.013715 -0.0376817 0.0218 -0.0154985 -0.0367669 0.022 -0.0155762 -0.0369512 0.0218 -0.017312 -0.0359487 0.022 -0.0173987 -0.0361289 0.0218 -0.0190823 -0.035041 0.022 -0.019178 -0.0352167 0.0218 -0.0208053 -0.0340463 0.022 -0.0209096 -0.034217 0.0218 -0.0224765 -0.0329669 0.022 -0.0225891 -0.0331322 0.0218 -0.0240918 -0.0318056 0.022 -0.0242126 -0.031965 0.0218 -0.0256472 -0.0305652 0.022 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