Merge branch 'master' of github.com:osrf/car_demo

smilejx · Jun 21, 2017 · 2d9173e · 2d9173e
2 parents 24aa920 + 5dfdab7
commit 2d9173e
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Showing 3 changed files with 38 additions and 704 deletions.
diff --git a/prius_description/launch/gazebo.launch b/prius_description/launch/gazebo.launch
@@ -9,5 +9,5 @@
     <arg name="world_name" value="$(find car_demo)/worlds/mcity.world"/>
   </include>
 
-  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model prius"/>
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -x 3 -y -12 -z 0.5 -Y 1.5708 -model prius"/>
 </launch>
diff --git a/prius_description/urdf/prius.urdf b/prius_description/urdf/prius.urdf
@@ -180,4 +180,33 @@
         <!-- ... plugin parameters ... -->
     </plugin>
   </gazebo>
+  <gazebo reference="chassis">
+    <sensor name='laser' type='ray'>
+      <pose frame=''>0 -2.4 0.5 0 0.05 -1.5707</pose>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>640</samples>
+            <resolution>1</resolution>
+            <min_angle>-2.26889</min_angle>
+            <max_angle>2.2689</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>1</samples>
+            <min_angle>0</min_angle>
+            <max_angle>0</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.2</min>
+          <max>30</max>
+          <resolution>0.01</resolution>
+        </range>
+      </ray>
+      <plugin name='laser' filename='libRayPlugin.so'/>
+      <always_on>1</always_on>
+      <update_rate>30</update_rate>
+      <visualize>1</visualize>
+    </sensor>
+  </gazebo>
 </robot>