rplidar-a2.sensor.xml

<sensor class="laser" name="${sensor_name|laser1}">
    <pose_3d> ${sensor_x|1.80}  ${sensor_y|0.0}  ${sensor_z|0.7}  ${sensor_yaw|0.0} ${sensor_pitch|0.0} ${sensor_roll|0.0}</pose_3d>
    <fov_degrees>${fov_degrees|360}</fov_degrees>

    <!-- Horizontal / azimuth angular resolution:
        The rotation of the RPLIDAR sensor is configurable
        between 5-15 Hz.
        Firing timing of the sensor is fixed at 125 μs (=8 kHz).

        Set the "sensor_rpm" variable from the parent XML to automatically
        adjust the number of points and the sensor scan rate (Hz).
    -->
    <sensor_period>$f{1/${sensor_hz|10}}</sensor_period>
    <nrays>$f{(1/${sensor_hz|10})/125e-6}</nrays>

    <range_std_noise>${sensor_std_noise|0.01}</range_std_noise>
    <angle_std_noise_deg>${sensor_std_noise_deg|0.01}</angle_std_noise_deg>

    <raytrace_3d>${raytrace_3d|false}</raytrace_3d>
    <max_range>${max_range|16.0}</max_range>
    
    <visual>
        <model_uri>https://mrpt.github.io/mvsim-models/turtlebot3.zip/turtlebot3/lds.dae</model_uri>
        <model_roll>90</model_roll>
        <model_scale>0.001</model_scale>
    </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>

    <!-- Visualization of sensed points in MVSIM GUI -->
    <viz_visiblePoints>${viz_visiblePoints|true}</viz_visiblePoints>
    <viz_pointSize>${viz_pointSize|3.0}</viz_pointSize>
    <viz_visiblePlane>${viz_visiblePlane|false}</viz_visiblePlane>
    <viz_visibleLines>${viz_visibleLines|true}</viz_visibleLines>
    <viz_pointsColor>${viz_pointsColor|#ff000080}</viz_pointsColor>
    <viz_planeColor>${viz_planeColor|#0000ff10}</viz_planeColor>

</sensor>