1.根据官方的教程创建简单的模型velodyne激光雷达 velodyne.world
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<model name="velodyne_hdl_32">
<!-- Give the base link a unique name -->
<link name="base">
<!-- Offset the base by half the lenght of the cylinder -->
<pose>0 0 0.029335 0 0 0</pose>
<inertial>
<mass>1.2</mass>
<inertia>
<ixx>0.001087473</ixx>
<iyy>0.001087473</iyy>
<izz>0.001092437</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="base_collision">
<geometry>
<cylinder>
<!-- Radius and length provided by Velodyne -->
<radius>.04267</radius>
<length>.05867</length>
</cylinder>
</geometry>
</collision>
<!-- The visual is mostly a copy of the collision -->
<visual name="base_visual">
<geometry>
<cylinder>
<radius>.04267</radius>
<length>.05867</length>
</cylinder>
</geometry>
</visual>
</link>
<!-- Each joint must have a unique name -->
<joint type="revolute" name="joint">
<!-- Position the joint at the bottom of the top link -->
<pose>0 0 -0.036785 0 0 0</pose>
<!-- Use the base link as the parent of the joint -->
<parent>base</parent>
<!-- Use the top link as the child of the joint -->
<child>top</child>
<!-- The axis defines the joint's degree of freedom -->
<axis>
<!-- Revolve around the z-axis -->
<xyz>0 0 1</xyz>
<!-- Limit refers to the range of motion of the joint -->
<limit>
<!-- Use a very large number to indicate a continuous revolution -->
<lower>-10000000000000000</lower>
<upper>10000000000000000</upper>
</limit>
</axis>
</joint>
<!-- Give the base link a unique name -->
<link name="top">
<!-- Add a ray sensor, and give it a name -->
<sensor type="ray" name="sensor">
<!-- Position the ray sensor based on the specification. Also rotate
it by 90 degrees ar