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WIP: added sherpa

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Timo Schneider
2025-04-06 21:49:38 +02:00
parent 1b7ccf22fc
commit e2de961537
21 changed files with 2385 additions and 0 deletions
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src/sherpa/urdf/components/ouster_lidar.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ouster_lidar" params="name parent xyz rpy model frequency topic">
<!-- different lidar models -->
<xacro:if value="${model == 'vlp16'}">
<xacro:property name="min_range" value="0.01"/>
<xacro:property name="max_range" value="100.0"/>
<xacro:property name="precision" value="0.03"/>
<xacro:property name="max_frequency" value="20.0"/>
<xacro:property name="vertical_fov" value="30.0"/>
<xacro:property name="horizontal_res" value="900"/>
<xacro:property name="nr_of_channels" value="16"/>
</xacro:if>
<xacro:if value="${model == 'vlp16hi'}">
<xacro:property name="min_range" value="0.5"/>
<xacro:property name="max_range" value="100.0"/>
<xacro:property name="precision" value="0.03"/>
<xacro:property name="max_frequency" value="20.0"/>
<xacro:property name="vertical_fov" value="40.0"/>
<xacro:property name="horizontal_res" value="900"/>
<xacro:property name="nr_of_channels" value="16"/>
</xacro:if>
<xacro:if value="${model == 'vlp32'}">
<xacro:property name="min_range" value="0.5"/>
<xacro:property name="max_range" value="200.0"/>
<xacro:property name="precision" value="0.03"/>
<xacro:property name="max_frequency" value="20.0"/>
<xacro:property name="vertical_fov" value="40.0"/>
<xacro:property name="horizontal_res" value="900"/>
<xacro:property name="nr_of_channels" value="32"/>
</xacro:if>
<xacro:if value="${model == 'vls128'}">
<xacro:property name="min_range" value="0.5"/>
<xacro:property name="max_range" value="300.0"/>
<xacro:property name="precision" value="0.03"/>
<xacro:property name="max_frequency" value="20.0"/>
<xacro:property name="vertical_fov" value="40.0"/>
<xacro:property name="horizontal_res" value="900"/>
<xacro:property name="nr_of_channels" value="128"/>
</xacro:if>
<xacro:if value="${model == 'OS0'}">
<xacro:property name="min_range" value="0.3"/>
<xacro:property name="max_range" value="100.0"/>
<xacro:property name="precision" value="0.03"/>
<xacro:property name="max_frequency" value="20.0"/>
<xacro:property name="vertical_fov" value="90.0"/>
<xacro:property name="horizontal_res" value="1024"/>
<xacro:property name="nr_of_channels" value="128"/>
</xacro:if>
<xacro:if value="${model == 'OS1'}">
<xacro:property name="min_range" value="0.3"/>
<xacro:property name="max_range" value="200.0"/>
<xacro:property name="precision" value="0.03"/>
<xacro:property name="max_frequency" value="20.0"/>
<xacro:property name="vertical_fov" value="45.0"/>
<xacro:property name="horizontal_res" value="1024"/>
<xacro:property name="nr_of_channels" value="128"/>
</xacro:if>
<xacro:if value="${model == 'OS2'}">
<xacro:property name="min_range" value="0.3"/>
<xacro:property name="max_range" value="400.0"/>
<xacro:property name="precision" value="0.02"/>
<xacro:property name="max_frequency" value="20.0"/>
<xacro:property name="vertical_fov" value="22.5"/>
<xacro:property name="horizontal_res" value="1024"/>
<xacro:property name="nr_of_channels" value="128"/>
</xacro:if>
<link name="${name}_link">
<visual name="base">
<pose>0 0 -0.035 0 0 0</pose>
<geometry>
<cylinder radius="0.06" length="0.0015"/>
</geometry>
</visual>
<collision name="base_collision">
<pose>0 0 -0.035 0 0 0</pose>
<geometry>
<cylinder radius="0.06" length="0.01"/>
</geometry>
</collision>
<visual name="suport_1">
<pose>-0.035 0.035 -0.08 0 0 0</pose>
<geometry>
<cylinder radius="0.005" length="0.09"/>
</geometry>
</visual>
<visual name="suport_2">
<pose>-0.035 -0.035 -0.08 0 0 0</pose>
<geometry>
<cylinder radius="0.005" length="0.09"/>
</geometry>
</visual>
<visual name="suport_3">
<pose>0.0495 0 -0.08 0 0 0</pose>
<geometry>
<cylinder radius="0.005" length="0.09"/>
</geometry>
</visual>
<!-- Bottom cylinder of Ouster/Velodyne 3D Lidar -->
<visual name="bot_cylinder">
<pose>0 0 -0.035 0 0 0</pose>
<geometry>
<mesh filename="package://sherpa/urdf/meshes/VLP16_base_1.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- Top cylinder of Ouster/Velodyne 3D Lidar -->
<visual name="top_cylinder">
<pose>0 0 -0.035 0 0 0</pose>
<geometry>
<mesh filename="package://sherpa/urdf/meshes/VLP16_base_2.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- Main cylinder of Ouster/Velodyne 3D Lidar -->
<visual name="main_cylinder">
<pose>0 0 -0.035 0 0 0</pose>
<geometry>
<mesh filename="package://sherpa/urdf/meshes/VLP16_scan.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="0.83"/>
<inertia
ixx="0.001828"
ixy="0.0"
ixz="0.0"
iyy="0.001828"
iyz="0.0"
izz="0.003528"
/>
</inertial>
</link>
<joint name="${name}_joint" type="fixed">
<parent link="${parent}_link"/>
<child link="${name}_link"/>
<origin xyz="${xyz}" rpy="${rpy}"/>
</joint>
<gazebo reference="${name}_link">
<sensor name="${name}" type="gpu_lidar">
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<update_rate>${frequency}</update_rate>
<topic>/velodyne_points</topic>
<gz_frame_id>${name}_link</gz_frame_id>
<lidar>
<scan>
<horizontal>
<samples>${horizontal_res * (max_frequency / frequency)}</samples>
<resolution>1</resolution>
<min_angle>-3.141592654</min_angle>
<max_angle>3.141592654</max_angle>
</horizontal>
<vertical>
<samples>${nr_of_channels}</samples>
<resolution>1</resolution>
<min_angle>${vertical_fov * -0.0087266463}</min_angle>
<max_angle>${vertical_fov * 0.0087266463}</max_angle>
</vertical>
</scan>
<range>
<min>${min_range}</min>
<max>${max_range}</max>
<resolution>${precision}</resolution>
</range>
</lidar>
</sensor>
</gazebo>
</xacro:macro>
</robot>