ROS总结（五）在仿真模型添加多线雷达

在仿真模型添加多线雷达

ubuntu16.04
ros kinetic
gazebo9

源码

声明xacro变量和参数

<?xml version="1.0"?>
<robot name="VLP-16" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:property name="M_PI" value="3.1415926535897931" />
  <xacro:macro name="VLP-16" params="*origin parent:=base_link name:=velodyne topic:=/velodyne_points hz:=10 lasers:=16 samples:=1875 collision_range:=0.3 min_range:=0.9 max_range:=130.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI} gpu:=false">
  
    <joint name="${name}_base_mount_joint" type="fixed">
      <xacro:insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_base_link"/>
    </joint>
    
    <link name="${name}_base_link">
      <inertial>
        <mass value="0.83"/>
        <origin xyz="0 0 0.03585"/>
        <inertia ixx="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" ixy="0" ixz="0"
          iyy="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" iyz="0"
          izz="${0.5 * 0.83 * (0.0516*0.0516)}"/>
      </inertial>
      <visual>
        <geometry>
          <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae" />
        </geometry>
      </visual>
      <visual>
        <geometry>
          <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae" />
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0.03585"<