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>