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Update sensors

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nkoenig 2017-10-20 12:37:45 -07:00
parent 381fe83518
commit cec0d3b4b9
1 changed files with 65 additions and 13 deletions
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78
prius_hybrid_sensors/model.sdf
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@ -80,7 +80,7 @@
</ray>
<always_on>0</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
<pose frame=''>0.24 2.4 0.5 0 -0 1.5707</pose>
</sensor>
<sensor name='back_right_far_sonar_sensor' type='ray'>
@ -106,7 +106,7 @@
</ray>
<always_on>0</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
<pose frame=''>-0.7 2.4 0.5 0 -0 1.5707</pose>
</sensor>
<sensor name='back_right_middle_sonar_sensor' type='ray'>
@ -132,7 +132,7 @@
</ray>
<always_on>0</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
<pose frame=''>-0.24 2.4 0.5 0 -0 1.5707</pose>
</sensor>
<sensor name='center_laser_sensor' type='ray'>
@ -158,8 +158,8 @@
</ray>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
<pose frame=''>0 0.4 1.8 0 0 -1.5707</pose>
<visualize>1</visualize>
<pose frame=''>0 0.4 2.0 0 0 -1.5707</pose>
</sensor>
<sensor name='front_camera_sensor' type='camera'>
<update_rate>30</update_rate>
@ -205,7 +205,7 @@
</ray>
<always_on>0</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
<pose frame=''>0.7 -2.1 0.5 0 0 -1.5707</pose>
</sensor>
<sensor name='front_left_laser_sensor' type='ray'>
@ -231,8 +231,8 @@
</ray>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
<pose frame=''>1 -2.3 0.5 0 0.05 0</pose>
<visualize>1</visualize>
<pose frame=''>1 -2.3 0.8 0 0.05 0</pose>
</sensor>
<sensor name='front_left_middle_sonar_sensor' type='ray'>
<ray>
@ -257,7 +257,7 @@
</ray>
<always_on>0</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
<pose frame=''>0.24 -2.3 0.5 0 0 -1.5707</pose>
</sensor>
<sensor name='front_right_far_sonar_sensor' type='ray'>
@ -283,7 +283,7 @@
</ray>
<always_on>0</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
<pose frame=''>-0.7 -2.1 0.5 0 0 -1.5707</pose>
</sensor>
<sensor name='front_right_laser_sensor' type='ray'>
@ -309,8 +309,8 @@
</ray>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
<pose frame=''>-1 -2.3 0.5 -0 0.05 3.14</pose>
<visualize>1</visualize>
<pose frame=''>-1 -2.3 0.8 -0 0.05 3.14</pose>
</sensor>
<sensor name='front_right_middle_sonar_sensor' type='ray'>
<ray>
@ -335,7 +335,7 @@
</ray>
<always_on>0</always_on>
<update_rate>5</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
<pose frame=''>-0.24 -2.3 0.5 0 0 -1.5707</pose>
</sensor>
<sensor name='left_camera_sensor' type='camera'>
@ -380,6 +380,58 @@
</camera>
<pose frame=''>-1 -0.7 1 0 0.05 2.1416</pose>
</sensor>
<sensor name="gps_sensor" type="gps">
<pose>0 0 0 0 0 0</pose>
<update_rate>10.0</update_rate>
<always_on>true</always_on>
<gps>
<position_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>0.5</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>1.0</precision>
</noise>
</vertical>
</position_sensing>
<velocity_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.1</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.1</bias_stddev>
<precision>0.1</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.2</stddev>
<bias_mean>0.2</bias_mean>
<bias_stddev>0.2</bias_stddev>
<precision>0.2</precision>
</noise>
</vertical>
</velocity_sensing>
</gps>
</sensor>
<sensor name="imu_sensor" type="imu">
<pose>0 0 0 0 0 0</pose>
<always_on>1</always_on>
<update_rate>1000.0</update_rate>
</sensor>
</link>
</model>
</sdf>