Gazebo Model for Omron OS32C sensor

The STEP model of the sensor was downloaded from here. This was converted to .STL and then to .DAE in Blender.

Model properties

1. Mass: 1.3 kg

2. Inertia Tensor is :

   | 0.001567 0.000000 0.000000 |

   | 0.000000 0.001532 -0.000059 |

   | 0.000000 -0.000059 0.001594 |

3. Sensor properties:

• Ray samples: 70
• Min angle : 45 degree
• Max angle : 225 degree
• Min Distance: 1.75m
• Max Distance: 10m
• Gaussian Noise: mean = 0; Standard deviation = 0.02

Screenshot Images

Installation

Clone the model into the gazebo models directory

cd .gazebo/models

git clone https://github.com/prajval10/Omron_model.git