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laser_vertical.world
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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<model name="model_1">
<static>true</static>
<pose>0 0 0.5 0. 0 0</pose>
<link name="link_1">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://hokuyo/meshes/hokuyo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision-base">
<pose>0 0 -0.0145 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.041</size>
</box>
</geometry>
</collision>
<collision name="collision-top">
<pose>0 0 0.0205 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.029</length>
</cylinder>
</geometry>
</collision>
<sensor name="laser_sensor" type="ray">
<pose>0.1 0 0.0175 0 -0 0</pose>
<ray>
<scan>
<horizontal>
<samples>320</samples>
<resolution>1</resolution>
<min_angle>-1.0</min_angle>
<max_angle>1.0</max_angle>
</horizontal>
<vertical>
<samples>3</samples>
<resolution>1</resolution>
<min_angle>-0.1</min_angle>
<max_angle>0.1</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
</ray>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>
<!-- a static object -->
<model name="cylinder_model">
<static>true</static>
<pose>6 -1.5 0 0 0 0</pose>
<link name="cylinder_link">
<visual name="cylinder_visual">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
</visual>
<collision name="cylinder_collision">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
</link>
</model>
<!-- a non-static object -->
<model name="box_model">
<static>false</static>
<pose>3 0.8 0 0 0 0</pose>
<link name="box_link">
<visual name="box_visual">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</visual>
<collision name="box_collision">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</collision>
</link>
</model>
</world>
</sdf>