Sensor - willinum/SPEC21 GitHub Wiki

The sensor which is used is the Velodyne HDL-32 LiDAR. To replicate it follow the instructions in the following link: Velodyne sensor

Though for this project only steps 1 (Construct a Velodyne LiDAR) and 3 (Sensor Noise) are done.

The .sdf file can be found in this repo. In comparison to the tutorial the mass of both parts (top, base) of the sensor is reduced to 0.1. This makes it easier to fly the drone in the simulation. Moreover the range of motion of the joint between the two parts is set to 0. This means it is a fixed connection. This is done so that the pose of the sensor changes equivalent to the change of the drone during flight. Moreover the beams are changed though this does not changes the functionality of the sensor. To get the data the plugin libgazebo_ros_ray_sensor from the gazebo_ros_pkgs is used.