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simulation: set distance sensor's fov to 27 deg

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As vl53l1x rangefinder specification stances
This commit is contained in:
Oleg Kalachev
2022-10-25 05:10:25 +06:00
committed by GitHub
parent 0f5f111f46
commit d6f9327ede
1 changed files with 2 additions and 2 deletions
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4
clover_description/urdf/sensors/distance_sensor.urdf.xacro
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@@ -2,7 +2,7 @@
<robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="../camera_sensor.urdf.xacro"/>
<xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
<xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10 fov:=0.471239">
<joint name="${name}_joint" type="fixed">
<origin xyz="${x} ${y} ${z}"
rpy="${roll} ${pitch} ${yaw}"/>
@@ -58,7 +58,7 @@
<topicName>/rangefinder/range</topicName>
<frameName>rangefinder</frameName>
<radiation>infrared</radiation>
<fov>0.01</fov>
<fov>${fov}</fov>
<gaussianNoise>0.001</gaussianNoise>
<updateRate>${rate}</updateRate>
<min_distance>${range_min}</min_distance>