ROS Block Laser Scanner Controller Plugin
[Gazebo ROS Dynamic Plugins]

ROS Block Laser Scanner Controller Plugin. More...

Collaboration diagram for ROS Block Laser Scanner Controller Plugin:

Classes
class	gazebo::GazeboRosBlockLaser
	ROS laser block simulation. More...

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Detailed Description

ROS Block Laser Scanner Controller Plugin.

This is a controller that gathers range data from a ray sensor, and returns results via publishing ROS topic for point clouds.

Example Usage:

    <model:physical name="ray_model">
      <body:empty name="ray_body_name">
        <sensor:ray name="ray_sensor">
          <rayCount>30</rayCount>
          <rangeCount>30</rangeCount>
          <laserCount>1</laserCount>
          
          <origin>0.0 0.0 0.05</origin>
          <displayRays>false</displayRays>
          
          <minAngle>-15</minAngle>
          <maxAngle> 15</maxAngle>
          
          <minRange>0.05</minRange>
          <maxRange>100.0</maxRange>
          <updateRate>10.0</updateRate>

          <verticalRayCount>30</verticalRayCount>
          <verticalRangeCount>30</verticalRangeCount>
          <verticalMinAngle>-20</verticalMinAngle>
          <verticalMaxAngle>  0</verticalMaxAngle>

          <controller:gazebo_ros_block_laser name="ray_block_controller" plugin="libgazebo_ros_block_laser.so">
            <gaussianNoise>0.005</gaussianNoise>
            <alwaysOn>true</alwaysOn>
            <updateRate>10.0</updateRate>
            <topicName>full_cloud</topicName>
            <frameName>ray_model</frameName>
            <interface:laser name="ray_block_iface" />
          </controller:gazebo_ros_block_laser>
        </sensor:ray>
      </body:empty>
    </model:phyiscal>