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Fix example xacro + Change to OS1-64 datasheet parameters #5

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Fix example xacro + Change to OS1-64 datasheet parameters #5

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3f68b23
avoid overwrite args from 0S1-64.urdf.xacro
rcabg Jul 16, 2020
217d33f
set official params for OS1-64 from datasheet
rcabg Jul 16, 2020
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10 changes: 5 additions & 5 deletions ouster_description/urdf/OS1-64.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="OS1-64">
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:macro name="OS1-64" params="*origin parent:=base_link name:=os1_sensor topic_points:=/os1_cloud_node/points topic_imu:=/os1_cloud_node/imu hz:=10 lasers:=64 samples:=512 min_range:=0.9 max_range:=75.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI} lidar_link:=os1_lidar imu_link:=os1_imu vfov_min:=-.26 vfov_max:=.26">
<xacro:macro name="OS1-64" params="*origin parent:=base_link name:=os1_sensor topic_points:=/os1_cloud_node/points topic_imu:=/os1_cloud_node/imu hz:=10 lasers:=64 samples:=512 min_range:=0.25 max_range:=75.0 noise:=0.009 min_angle:=-${M_PI} max_angle:=${M_PI} lidar_link:=os1_lidar imu_link:=os1_imu vfov_min:=-.39 vfov_max:=.39">

<joint name="${name}_mount_joint" type="fixed">
<xacro:insert_block name="origin" />
Expand All @@ -11,15 +11,15 @@

<link name="${name}">
<inertial>
<mass value="0.33"/>
<mass value="0.455"/>
<origin xyz="0 0 0.0365" rpy="0 0 0" />
<inertia ixx="0.000241148" ixy="0" ixz="0"
iyy="0.000241148" iyz="0" izz="0.000264"/>
<inertia ixx="0.000435" ixy="0" ixz="0"
iyy="0.000435" iyz="0" izz="0.000461"/>
</inertial>
<collision name="base_collision">
<origin xyz="0 0 0.0365" rpy="0 0 0" />
<geometry>
<cylinder radius="0.04" length="0.073"/>
<cylinder radius="0.045" length="0.0735"/>
</geometry>
</collision>
<visual name="base_visual">
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2 changes: 1 addition & 1 deletion ouster_description/urdf/example.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@
</link>

<xacro:include filename="$(find ouster_description)/urdf/OS1-64.urdf.xacro"/>
<OS1-64 parent="base_link" name="os1_sensor" hz="10" samples="220">
<OS1-64 parent="base_link" name="os1_sensor">
<origin xyz="0 0 1.2" rpy="0 0 0" />
</OS1-64>

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