From 428516503d3bb3fdd42b4373bf749aceec26b6c2 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 1 Apr 2020 17:14:40 +0200
Subject: [PATCH] Added a test launch file and a configuration for for the
HC-SR04 sonar sensor in simulation.
---
config/hc_sr04_sonar_ranger1d_sim_config.yaml | 10 ++++++
launch/hc_sr04_sonar_sim.launch | 32 +++++++++++++++++++
launch/lidar_lite_sim.launch | 2 +-
3 files changed, 43 insertions(+), 1 deletion(-)
create mode 100644 config/hc_sr04_sonar_ranger1d_sim_config.yaml
create mode 100644 launch/hc_sr04_sonar_sim.launch
diff --git a/config/hc_sr04_sonar_ranger1d_sim_config.yaml b/config/hc_sr04_sonar_ranger1d_sim_config.yaml
new file mode 100644
index 0000000..e955d01
--- /dev/null
+++ b/config/hc_sr04_sonar_ranger1d_sim_config.yaml
@@ -0,0 +1,10 @@
+rate: 20.0
+visualize: true
+fov: 0.5
+min_range: 0.2
+max_range: 4.0
+resolution: 0.003
+frame_id: '/hcsr04_sonar/hcsr04_sonar_ranger1d'
+ranger1d_topic: 'hcsr04_sonar_range'
+type: 'ultrasound'
+noise: 0.01
diff --git a/launch/hc_sr04_sonar_sim.launch b/launch/hc_sr04_sonar_sim.launch
new file mode 100644
index 0000000..948ba41
--- /dev/null
+++ b/launch/hc_sr04_sonar_sim.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="paused" value="false"/>
+ <arg name="use_sim_time" value="true"/>
+ <arg name="extra_gazebo_args" value=""/>
+ <arg name="gui" value="true"/>
+ <arg name="recording" value="false"/>
+ <arg name="headless" value="false"/>
+ <arg name="debug" value="false"/>
+ <arg name="physics" value="ode"/>
+ <arg name="verbose" value="false"/>
+ <arg name="world_name" value="worlds/empty.world"/>
+ <arg name="respawn_gazebo" value="false"/>
+ <arg name="use_clock_frequency" value="false"/>
+ <arg name="pub_clock_frequency" value="100"/>
+ </include>
+
+ <param name="robot_description"
+ command="$(find xacro)/xacro --inorder '$(find iri_hcsr04_sonar_description)/urdf/hc_sr04_sonar_example.xacro'" />
+
+ <node pkg="robot_state_publisher" type="state_publisher" name="hcsr04_sonar_tf_broadcaster">
+ <param name="tf_prefix" type="string" value="/hcsr04_sonar"/>
+ <param name="publish_frequency" type="double" value="20.0"/>
+ </node>
+
+ <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model hcsr04_sonar_ranger1d -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
+
+</launch>
+
diff --git a/launch/lidar_lite_sim.launch b/launch/lidar_lite_sim.launch
index 02f4fbb..bb29526 100644
--- a/launch/lidar_lite_sim.launch
+++ b/launch/lidar_lite_sim.launch
@@ -26,7 +26,7 @@
<param name="publish_frequency" type="double" value="20.0"/>
</node>
- <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model lidar_lite_ranger1d_imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
+ <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model lidar_lite_ranger1d -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
</launch>
--
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