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Sick LMS 200 [Models] The SickLMS200 model simulates the ubiquitous SICK LMS200 scanning laser range-finder. libgazebo interfaces This model supports the laser and fiducial interfaces. Player drivers Range and intensity data is available through the gz_laser driver. Fiducial information (ID, range, bearing and orientation) is available through the gz_fiducial driver. At this time, only the Simple Solid model will return a non-zero fiducial value. Attributes The following attributes are supported. id (string) The model ID string (used by libgazebo to identify models). Default: (empty) xyz (float tuple, meters) Model position (x, y, z, in meters). Default: 0 0 0 rpy (float tuple, degrees) Model orientation in Euler angles: roll, pitch, yaw. Default: 0 0 0 rangeCount (integer) The number of range simulated readings to generate. Default: 181 rayCount (integer) The number of rays to test. If rangeCount > rayCount, the additional readings will be interpolated. Reducing the number of rays is a good way to save CPU cycles (at the expense of simulation fidelity). Default: 91 rangeMax (float, m) Maximum laser range. Default: 8.192 rangeMin (float, m) Minimum laser range. Default: 0.20 scanRate (float, Hz) The scanning rate, or scans-per-second. Default: 10 Bodies The following bodies are created by this model. canonical The canonical (default) body. Example <model:SickLMS200> <id>laser1</id> <xyz>0.15 0 0.20</xyz> <rangeCount>181</rangeCount> <scanRate>10</scanRate> </model:SickLMS200> Views Authors Nate Koenig, Andrew Howard

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Last updated $Date: 2004/12/21 01:49:15 $

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