From c6e1315ebb3e5a00903f5d1c0cbb060aa47edb23 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 16 Oct 2018 12:45:40 +0200
Subject: [PATCH] Added a specific velodyne sensor configuration file for the
 Ana robot.

---
 config/ana_sim_config.yaml      |  2 +-
 config/ana_velodyne_config.yaml | 10 ++++++++++
 2 files changed, 11 insertions(+), 1 deletion(-)
 create mode 100644 config/ana_velodyne_config.yaml

diff --git a/config/ana_sim_config.yaml b/config/ana_sim_config.yaml
index 3976a63..86c6d1e 100644
--- a/config/ana_sim_config.yaml
+++ b/config/ana_sim_config.yaml
@@ -14,4 +14,4 @@ cov_yaw: 0.01
 cmd_vel_topic: 'cmd_vel'
 odom_topic: 'odom'
 odom_frame: 'odom'
-broadcast_tf: 1
\ No newline at end of file
+broadcast_tf: 1
diff --git a/config/ana_velodyne_config.yaml b/config/ana_velodyne_config.yaml
new file mode 100644
index 0000000..256820a
--- /dev/null
+++ b/config/ana_velodyne_config.yaml
@@ -0,0 +1,10 @@
+topic: sensors/velodyne_points
+rate: 10
+samples: 400 #1875
+min_angle: -3.14159
+max_angle:  3.14159
+lasers: 16
+collision_range: 0.3
+min_range: 0.9
+max_range: 130.0
+noise: 0.008
-- 
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