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100644 76 lines (65 sloc) 1.401 kB
6b25bf7 added missing inc file
rtv authored
1
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2 define sicksensor sensor
3 (
4 # factory settings for LMS200
5 range [ 0.0 8.0 ]
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6 pose [ 0 0 0.1 0 ]
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7 fov 180
8 samples 180
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9 #samples 90 # still useful but much faster to compute
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10 color_rgba [0 0 1 0.15]
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11 )
12
13 define sickcommon ranger
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14 (
15 color "blue"
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16 size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
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17 )
e45b70c combined laser and ranger functionality into ranger - still buggy
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18
8fddd14 new unified ranger model working
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19 define sickbase sickcommon
20 (
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21 block( points 4
22 point[0] [0 0]
23 point[1] [0 1]
24 point[2] [1 1]
25 point[3] [1 0]
26 z [0 0.21]
27 )
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28 )
29
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30 # extends sicklaser to add nice-looking but relatively expensive geometry
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31 define fancysickbase sickcommon
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32 (
33 # bottom
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34 block(
35 points 4
36 point[0] [ -0.02 -0.077 ]
37 point[1] [ 0.078 -0.077 ]
38 point[2] [ 0.078 0.077 ]
39 point[3] [ -0.02 0.077 ]
40 z [0 0.02 ]
41 )
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42
43 # back
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44 block(
45 points 4
46 point[0] [ -0.078 -0.077 ]
47 point[1] [ -0.02 -0.077 ]
48 point[2] [ -0.02 0.077 ]
49 point[3] [ -0.078 0.077 ]
50 z [0 0.21 ]
51 )
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52
53 # top
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54 block( points 4
55 point[0] [ -0.02 -0.077 ]
56 point[1] [ 0.078 -0.077 ]
57 point[2] [ 0.078 0.077 ]
58 point[3] [ -0.02 0.077 ]
59 z [0.12 0.21 ]
60 )
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61
62 # laser bit
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63 block( points 4
64 point[0] [ -0.02 -0.05 ]
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65 point[1] [ 0.06 -0.05 ]
66 point[2] [ 0.06 0.05 ]
67 point[3] [ -0.02 0.05 ]
68 z [0.02 0.12 ]
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69 )
9f1a207 merge done
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70 )
1037104 added stall sensor and visualization
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71
8fddd14 new unified ranger model working
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72 define sicklaser sickbase ( sicksensor() )
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73
8fddd14 new unified ranger model working
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74 define fancysicklaser fancysickbase ( sicksensor() )
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75
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