LaserΒΆ
The laser plugin pushes 2D laser data. It attached to a body of the model with at a specified position and orientation. It can also publish the static TF between the body and the laser if asked to. It publishes sensor_msgs/LaserScan messages.
plugins:
# required, specify Laser to load this plugin
- type: Laser
# required, name of the laser plugin, must be unique
name: laser_back
# optional, default to "scan", topic to publish the laser data
topic: scan
# required, name of the body to attach the laser to
body: base_link
# optional, default to [0, 0, 0], in the form of [x, y, yaw], the position
# and orientation to place laser's coordinate system
origin: [0, 0, 0]
# optional, default to true, whether to publish TF
broadcast_tf: true
# optional, default to name of this plugin, the TF frame id to publish TF with
# only used when broadcast_tf=true
frame: laser_back
# required, maximum range of the laser, minimum range assumed to be zero, in meters
range: 20
# optional, default to 0.0, standard deviation of a gaussian noise
noise_std_dev: 0
# required, w.r.t to the coordinate system, scan from min angle to max angle
# at steps of specified increments
# Scan direction defaults to counter-clockwise but clockwise rotations can be
# simulated by providing a decrementing angle configuration.
# e.g. min: 2, max: -2, increment: -0.1 (clockwise)
angle: {min: -2.356194490192345, max: 2.356194490192345, increment: 0.004363323129985824}
# optional, default to inf (as fast as possible), rate to publish laser scan messages
update_rate: .inf
# optional, default to ["all"], the layers to operate the laser at,
# lasers only detects objects in the specified layers
layers: ["all"]
# optional, invert the mounting orientation of the lidar (default: false)
# This will invert the laser's body->laser frame TF (roll=PI)
# And sweep the lidar scan across a field mirrored across its mounted axis
# (as if you physically mounted the lidar upside down)
upside_down: false
# another example
- type: Laser
name: laser_front
body: base_link
range: 30
angle: {min: -1.5707963267948966, max: 1.5707963267948966, increment: 1.5707963267948966}
layers: ["layer_1", "layer_2", "layer_3"]
update_rate: 100
noise_std_dev: 0.01