Thesis-Hector-VR/Hector_v2/Assets/Telemax/hector_components_description/urdf/vlp16_mount.urdf.xacro.xml

<?xml version="1.0"?>
<robot
  xmlns:xacro="http://www.ros.org/wiki/xacro" name="hector_multisensor_head">
  <xacro:include filename="$(find hector_xacro_tools)/urdf/inertia_tensors.urdf.xacro"/>
  <xacro:include filename="$(find hector_sensors_description)/urdf/vlp16.urdf.xacro" />
  <xacro:include filename="$(find hector_xacro_tools)/urdf/joint_macros.urdf.xacro" />

  <xacro:property name="M_PI" value="3.14159265359"/>

  <xacro:macro name="spinning_sensor_mount_macro" params="parent name scaling has_geom:='true' use_gpu_lidar:='false' *origin">
    <joint name="${name}_joint_fixed" type="fixed">
      <xacro:insert_block name="origin"/>
      <parent link="${parent}" />
      <child link="${name}_mount_link_fixed"/>
    </joint>

    <link name="${name}_mount_link_fixed">
    </link>

    <joint name="${name}_spin_joint" type="continuous">
      <xacro:insert_block name="origin"/>
      <parent link="${parent}" />
      <child link="${name}_mount_link" />
      <axis xyz=" 0 0 1" />
      <limit effort="1000" velocity="100" />
      <joint_properties damping="500.0" friction="200.0" />
    </joint>
    <link name="${name}_mount_link">

      <xacro:if value="${has_geom}">
        <visual>
          <origin rpy="0 0 ${M_PI}" xyz="0 0 -0.21803"/>
          <geometry>
            <mesh filename="package://hector_components_description/meshes/autonomy_box/visionbox_lidar_mount_only.stl" scale="0.001 0.001 0.001" />
          </geometry>
          <material name="Grey">
            <color rgba="0.5 0.5 0.5 1"/>
          </material>
        </visual>
      </xacro:if>

      <xacro:inertial_sphere_with_pose mass="0.1" diameter="0.03">
        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      </xacro:inertial_sphere_with_pose>

    </link>

    <xacro:vlp16_advanced_parameters name="${name}_laser"  parent="${name}_mount_link" ros_topic="/${name}/vlp16" update_rate="10" horizontal_samples="512" vertical_samples="8" min_range="0.1" max_range="100" use_gpu="${use_gpu_lidar}">
      <xacro:insert_block name="vlp16_calibration" />
    </xacro:vlp16_advanced_parameters>

    <xacro:joint_standard_transmission name="${name}_spin_joint"/>

    <gazebo reference="${name}_spin_joint">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <gazebo>
      <!-- ros_control plugin -->
      <plugin name="gazebo_ros_control_select_joints" filename="libgazebo_ros_control_select_joints.so">
        <robotNamespace>${name}_control</robotNamespace>
        <joints>${name}_spin_joint</joints>
      </plugin>
    </gazebo>

    <xacro:if value="${has_geom}">
      <gazebo reference="${name}_mount_link">
        <visual>
        <material>
          <ambient>0.1 0.1 0.1 1</ambient>
          <diffuse>0.48 0.48 0.48 1</diffuse>
          <emissive>0.237 0.237 0.237 1</emissive>
          <specular>0.8 0.8 0.8 1</specular>
        </material>
        </visual>
      </gazebo>
    </xacro:if>

  </xacro:macro>
</robot>