tg30_f120a.gazebo

<?xml version="1.0"?>
<robot name="lrf_tg30_f120a" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- set to "true" to visualize the LRF laser on Gazebo -->
  <xacro:arg name="front_laser_visual" default="false" />
  <xacro:arg name="back_laser_visual" default="false" />

  <xacro:property name="lrf_color" value="Gazebo/FlatBlack" />

  <!-- LRF: TG30 -->
  <!-- DATA: http://www.ydlidar.com/Public/upload/files/2022-06-21/YDLIDAR%20TG30%20Data%20Sheet%20V1.4(211230).pdf -->
  <gazebo reference="front_lrf_link">
    <material>${lrf_color}</material>
    <selfCollide>true</selfCollide>
    <sensor type="ray" name="tg30_lidar_front">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg front_laser_visual)</visualize>
      <update_rate>12</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1636</samples>
            <resolution>0.22</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.05</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_tg30_lidar_front_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>front_lrf_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

  <gazebo reference="back_lrf_link">
    <material>${lrf_color}</material>
    <selfCollide>true</selfCollide>
    <sensor type="ray" name="tg30_lidar_back">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg back_laser_visual)</visualize>
      <update_rate>12</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1636</samples>
            <resolution>0.22</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.05</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_tg30_lidar_back_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>back_lrf_link</frameName>
      </plugin>
    </sensor>
  </gazebo>
</robot>