From 579af5f6df16da23bae13d677939f6347b6cc356 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 1 Apr 2020 16:25:04 +0200
Subject: [PATCH] Added an example launch file and the configuration file for
the RP-LIDAR A2 in simulation.
---
config/rplidar_a2.yaml | 20 +++++++++++++++++
launch/hokuyo_laser2d_sim.launch | 2 +-
launch/rplidar_laser2d_sim.launch | 37 +++++++++++++++++++++++++++++++
3 files changed, 58 insertions(+), 1 deletion(-)
create mode 100644 config/rplidar_a2.yaml
create mode 100644 launch/rplidar_laser2d_sim.launch
diff --git a/config/rplidar_a2.yaml b/config/rplidar_a2.yaml
new file mode 100644
index 0000000..307f9e5
--- /dev/null
+++ b/config/rplidar_a2.yaml
@@ -0,0 +1,20 @@
+pose_x: 0
+pose_y: 0
+pose_z: 0
+pose_roll: 0
+pose_pitch: 0
+pose_yaw: 0
+visualize: false
+update_rate: 10
+samples: 400
+resolution: 1
+min_angle: -3.14159
+max_angle: 3.14159
+range_min: 0.15
+range_max: 6.0
+range_resolution: 0.05
+noise_type: 'gaussian'
+noise_mean: 0.0
+noise_stddev: 0.01
+topic_name: 'scan'
+#frame_name: 'scan_frame'
diff --git a/launch/hokuyo_laser2d_sim.launch b/launch/hokuyo_laser2d_sim.launch
index 7821b79..05c65b7 100644
--- a/launch/hokuyo_laser2d_sim.launch
+++ b/launch/hokuyo_laser2d_sim.launch
@@ -34,4 +34,4 @@
args="-d $(find iri_laser2d_gazebo)/rviz/laser.rviz">
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/rplidar_laser2d_sim.launch b/launch/rplidar_laser2d_sim.launch
new file mode 100644
index 0000000..f2e716b
--- /dev/null
+++ b/launch/rplidar_laser2d_sim.launch
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+ <include file="$(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_rplidar_laser2d_description)/urdf/rplidar_laser2d_example.xacro'" />
+
+ <node pkg="robot_state_publisher" type="state_publisher" name="rplidar_tf_broadcaster">
+ <param name="tf_prefix" type="string" value="/"/>
+ <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 rplidar_laser2d -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
+
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find iri_laser2d_gazebo)/rviz/laser.rviz">
+ </node>
+
+</launch>
--
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