Skip to content

HTTPS clone URL

Subversion checkout URL

You can clone with HTTPS or Subversion.

Download ZIP
tag: v4.0.1
Fetching contributors…

Cannot retrieve contributors at this time

77 lines (66 sloc) 1.4 kb
define sicksensor sensor
(
# factory settings for LMS200
range [ 0.0 8.0 ]
pose [ 0 0 0.1 0 ]
fov 179.0
samples 361
#samples 90 # still useful but much faster to compute
color_rgba [ 0 0 1 0.15 ]
)
define sickcommon ranger
(
color "blue"
size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
)
define sickbase sickcommon
(
block( points 4
point[0] [0 0]
point[1] [0 1]
point[2] [1 1]
point[3] [1 0]
z [0 0.21]
)
)
# extends sicklaser to add nice-looking but relatively expensive geometry
define fancysickbase sickcommon
(
# bottom
block(
points 4
point[0] [ -0.02 -0.077 ]
point[1] [ 0.078 -0.077 ]
point[2] [ 0.078 0.077 ]
point[3] [ -0.02 0.077 ]
z [0 0.02 ]
)
# back
block(
points 4
point[0] [ -0.078 -0.077 ]
point[1] [ -0.02 -0.077 ]
point[2] [ -0.02 0.077 ]
point[3] [ -0.078 0.077 ]
z [0 0.21 ]
)
# top
block( points 4
point[0] [ -0.02 -0.077 ]
point[1] [ 0.078 -0.077 ]
point[2] [ 0.078 0.077 ]
point[3] [ -0.02 0.077 ]
z [0.12 0.21 ]
)
# laser bit
block( points 4
point[0] [ -0.02 -0.05 ]
point[1] [ 0.06 -0.05 ]
point[2] [ 0.06 0.05 ]
point[3] [ -0.02 0.05 ]
z [0.02 0.12 ]
color "gray10"
)
)
define sicklaser sickbase ( sicksensor() )
define fancysicklaser fancysickbase ( sicksensor() )
Jump to Line
Something went wrong with that request. Please try again.