helios-32-FOV-70.sensor.xml

<sensor class="lidar3d" name="${sensor_name|lidar1}">
    <pose_3d> ${sensor_x|0.5}  ${sensor_y|0.0}  ${sensor_z|0.7}  ${sensor_yaw|0.0} ${sensor_pitch|0.0} ${sensor_roll|0.0}</pose_3d>

    <!-- vert_fov_degrees: If defined, a symmetric vertical FOV is used.
         The alternative is using a custom list of angles in "vertical_ray_angles"
    -->
    <!-- <vert_fov_degrees>${vert_fov_degrees|70}</vert_fov_degrees> -->

    <vert_nrays>32</vert_nrays>
    <vertical_ray_angles>-55.020 -52.081 -49.142 -46.204 -43.265 -40.326 -37.387 -34.449 -31.510 -28.571 -25.632 -22.694 -19.755 -16.816 -13.877 -10.939 -8.000 -6.667 -5.333 -4.000 -2.667 -1.333  0.000 1.333 2.667 4.000 5.333 6.667 8.754 10.841 12.929 15</vertical_ray_angles>

    <!-- Horizontal / azimuth angular resolution:
        The rotation of the Helios sensor configurable: 5 / 10 / 20 Hz
        Firing timing of the sensor is fixed at 55.296 μs (=18.084 kHz).

        Set the "sensor_rate" (Hz) variable from the parent XML to automatically
        adjust the number of points per horizontal line.
    -->
    <sensor_period>$f{1.0/${sensor_rate|10}}</sensor_period>
    <horz_nrays>$f{(1.0/${sensor_rate|10})/55.296e-6}</horz_nrays>

    <!-- 1.0=minimum (faster), larger values=potentially finer details captured -->
    <horz_resolution_factor>${horz_resolution_factor|1.0}</horz_resolution_factor>
    <vert_resolution_factor>${vert_resolution_factor|1.0}</vert_resolution_factor>

    <!-- Depth ratio (0 to 1) between adjacent depth image to allow linear interpolation of ranges -->
    <max_vert_relative_depth_to_interpolatate>${max_vert_relative_depth_to_interpolatate|0.3}</max_vert_relative_depth_to_interpolatate>
    <max_horz_relative_depth_to_interpolatate>${max_horz_relative_depth_to_interpolatate|0.1}</max_horz_relative_depth_to_interpolatate>

    <range_std_noise>${sensor_std_noise|0.005}</range_std_noise>
    <min_range>${min_range|0.20}</min_range>
    <max_range>${max_range|110.0}</max_range>
    
    <visual> <model_uri>${MVSIM_CURRENT_FILE_DIRECTORY}/../models/velodyne-vlp16.dae</model_uri> <model_roll>90</model_roll> </visual>

    <!-- Publish sensor on MVSIM ZMQ topic? (Note, this is **not** related to ROS at all) -->
    <publish enabled="${sensor_publish|false}">
        <publish_topic>/${PARENT_NAME}/${NAME}</publish_topic>
    </publish>
</sensor>