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

gravity (bool)
- Enable/disable effect of gravity on this model
- Default: true

enable (bool)
- Enable/disable the model's bodies (so it doesn't fall, for example)
- Default: true

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

Last updated 12 September 2005 21:38:45

Sick LMS 200 [Models]

Sick LMS 200
[Models]