gazebo中仿真雷达模型系列

1.雷达文件
在~/.gazebo/models/下新建文件中添加如下文件
model.config

<?xml version="1.0"?>
<model>
  <name>Noisy laser</name>
  <version>1.0</version>
  <sdf version='1.6'>model.sdf</sdf>

  <author>
   <name>My Name</name>
   <email>me@my.email</email>
  </author>

  <description>
    My noisy laser.
  </description>
</model>

添加model.sdf文件如下：

<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="hokuyo">
    <link name="link">
      <gravity>false</gravity>
      <inertial>
        <mass>0.1</mass>
      </inertial>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://hokuyo/meshes/hokuyo.dae</uri>
          </mesh>