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[ROS] - Refactor sick_nanoscan3 sensor tf #36

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[ROS] - Refactor sick_nanoscan3 sensor tf #36

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184 changes: 95 additions & 89 deletions urdf/sick_nanoscan3.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,95 +1,101 @@
<?xml version="1.0"?>
<robot name="sensor_sick_nanoscan3"
xmlns:xacro="http://wiki.ros.org/xacro">
<robot
name="sensor_sick_nanoscan3"
xmlns:xacro="http://wiki.ros.org/xacro"
>
<xacro:macro
name="sensor_sick_nanoscan3"
params="
prefix
parent
*origin
prefix_topic:='front_laser'
max_angle:=radians(137.5)
min_angle:=-radians(137.5)
gpu:=^|true
include_inertial:=^|true
"
>
<joint name="${prefix}_base_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${prefix}_base_link" />
</joint>
<link name="${prefix}_base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl" />
</geometry>
</collision>
<xacro:if value="${include_inertial}">
<inertial>
<mass value="0.67" />
<origin xyz="0 0 0.04" rpy="0 0 0" />
<xacro:solid_cuboid_inertia m="0.67" w="0.1006" h="0.1006" d="0.08" />
</inertial>
</xacro:if>
</link>

<xacro:macro name="sensor_sick_nanoscan3" params="prefix parent prefix_topic:='front_laser' *origin max_angle:=2.3998 min_angle:=-2.3998 gpu:=^|true include_inertial:=^|true">
<joint name="${prefix}_joint" type="fixed">
<parent link="${prefix}_base_link" />
<child link="${prefix}_link" />
<origin xyz="0.0 0 0.0505" rpy="0 0 0" />
</joint>
<link name="${prefix}_link" />

<joint name="${prefix}_base_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${prefix}_base_link"/>
</joint>
<xacro:sensor_sick_nanoscan3_gazebo />
</xacro:macro>

<link name="${prefix}_base_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<!--<box size="0.106 0.094 0.152"/>-->
<!--<cylinder radius="0.058" length="0.152"/>-->
<mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl"/>
</geometry>
</collision>

<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl"/>
</geometry>
</visual>
<xacro:if value="${include_inertial}">
<inertial>
<mass value="0.67" />
<origin xyz="0 0 0.04" rpy="0 0 0"/>
<xacro:solid_cuboid_inertia m="0.67" w="0.1006" h="0.1006" d="0.08" /> <!-- Datasheet dimensional drawing: 100.6 mm x 100.6 mm x 80 mm without connectors -->
</inertial>
</xacro:if>
</link>

<joint name="${prefix}_joint" type="fixed">
<parent link="${prefix}_base_link"/>
<child link="${prefix}_link"/>
<origin xyz="0.0 0 0.0505" rpy="0 0 0"/>
</joint>

<link name="${prefix}_link" />

<!-- Sick sensor sensor for simulation -->
<xacro:sensor_sick_nanoscan3_gazebo />

</xacro:macro>

<xacro:macro name="sensor_sick_nanoscan3_gazebo">
<gazebo reference="${prefix}_link">

<xacro:if value="${gpu}">
<xacro:property name="ray_type" value="gpu_ray" />
<xacro:property name="plugin_lib" value="libgazebo_ros_gpu_laser.so" />
</xacro:if>
<xacro:unless value="${gpu}">
<xacro:property name="ray_type" value="ray" />
<xacro:property name="plugin_lib" value="libgazebo_ros_laser.so" />
</xacro:unless>

<sensor type="${ray_type}" name="${prefix}_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>12.5</update_rate>
<ray>
<scan>
<horizontal>
<samples>1618</samples>
<resolution>1</resolution>
<min_angle>${min_angle}</min_angle>
<max_angle>${max_angle}</max_angle>
</horizontal>
</scan>
<range>
<min>0.065</min>
<max>40.0</max> <!-- 3m protective, 10 warning, 40 measurement -->
<resolution>0.07</resolution> <!-- Resolution is configurable 20 mm 30 mm 40 mm 50 mm 60 mm 70 mm 150 mm 200 mm, reglamentary resolution is 70 mm -->
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.03</stddev>
</noise>
</ray>
<plugin name="${prefix}_controller" filename="${plugin_lib}">
<topicName>${prefix_topic}/scan</topicName>
<frameName>/${prefix}_link</frameName> <!-- if not global (leading /) sets the current namespace as a prefix (/ns/name_laser_link) -->
</plugin>
</sensor>
</gazebo>
</xacro:macro>
<xacro:macro
name="sensor_sick_nanoscan3_gazebo"
>
<gazebo reference="${prefix}_link">
<xacro:if value="${gpu}">
<xacro:property name="ray_type" value="gpu_ray" />
<xacro:property name="plugin_lib" value="libgazebo_ros_gpu_laser.so" />
</xacro:if>
<xacro:unless value="${gpu}">
<xacro:property name="ray_type" value="ray" />
<xacro:property name="plugin_lib" value="libgazebo_ros_laser.so" />
</xacro:unless>

<sensor type="${ray_type}" name="${prefix}_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>12.5</update_rate>
<ray>