ouster-os1.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_nrays>${vert_nrays|128}</vert_nrays>

    <!-- Vertical FOV:
         - OS0: 90deg
         - OS1: 45deg
         - OS2: 22.5deg
    -->
    <vert_fov_degrees>${vert_fov_degrees|22.5}</vert_fov_degrees>

    <!-- Horizontal / azimuth angular resolution:

        Modes (number of "columns per lidar frame" x frame rate):
        - 512 x {10,20} Hz
        - 1024 x {10,20} Hz
        - 2048 x 10 Hz
    -->
    <sensor_period>${sensor_period_sec|0.10}</sensor_period>
    <horz_nrays>${sensor_horz_nrays|1024}</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|0.5}</min_range>
    <max_range>${max_range|90.0}</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>