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Add lidar model #103

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0f9cc7f
feat: Add lidar and double-camera models
May 23, 2025
43fc32e
better position for the lidar
May 26, 2025
0b471cd
Merge branch 'PX4:main' into add-lidar-model
Bisclet Jun 18, 2025
ce9075d
Merge branch 'PX4:main' into add-lidar-model
AndriiChumak145 Jun 27, 2025
03b1ff7
Added stereo lidar
Bisclet Sep 8, 2025
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Binary file added models/livox_mid360/meshes/livox_resized.stl
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15 changes: 15 additions & 0 deletions models/livox_mid360/model.config
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<?xml version="1.0"?>

<model>
<name>Livox Mid360</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Ani</name>
</author>

<description>
Livox Mid360 sensor using the RGL Gazebo plugin.
</description>
</model>
47 changes: 47 additions & 0 deletions models/livox_mid360/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="livox_mid360">
<link name="link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0.0435 0 0 0</pose>
<mass>0.265</mass>
<inertia>
<ixx>0.00034437749999999994</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00034437749999999994</iyy>
<iyz>0</iyz>
<izz>0.00022199999999999998</izz>
</inertia>
</inertial>
<collision name="base_link_collision">
<geometry>
<mesh>
<uri>model://livox_mid360/meshes/livox_resized.stl</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://livox_mid360/meshes/livox_resized.stl</uri>
</mesh>
</geometry>
</visual>
<sensor name="RGLsensor" type="custom">
<plugin filename="RGLServerPluginInstance" name="rgl::RGLServerPluginInstance">
<range>
<min>1</min>
<max>100</max>
</range>
<update_rate>10</update_rate>
<update_on_paused_sim>false</update_on_paused_sim>
<topic>rgl_lidar</topic>
<frame>RGLLidar</frame>
<pattern_preset>Livox Mid360</pattern_preset>
</plugin>
</sensor>
</link>
</model>
</sdf>
11 changes: 11 additions & 0 deletions models/mono_cam2/model.config
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<?xml version="1.0"?>
<model>
<name>mono_cam</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Markus Achtelik</name>
<email>[email protected]</email>
</author>
<description>Very simple monocular camera model</description>
</model>
71 changes: 71 additions & 0 deletions models/mono_cam2/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='mono_cam'>
<pose>0 0 0 0 0 0</pose>
<self_collide>false</self_collide>
<static>false</static>
<link name="mono_cam/base_link">
<inertial>
<pose>0.03 0.03 0.03 0 0 0</pose>
<mass>0.050</mass>
<inertia>
<ixx>0.00004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00004</iyy>
<iyz>0</iyz>
<izz>0.00004</izz>
</inertia>
</inertial>
<visual name="mono_cam/visual/housing">
<geometry>
<box>
<size>0.02 0.04 0.04</size>
</box>
</geometry>
</visual>
<visual name="mono_cam/visual/lens">
<pose>0.015 0 0 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>0.008</radius>
<length>0.01</length>
</cylinder>
</geometry>
</visual>
<visual name="mono_cam/visual/lens_glass">
<pose>0.014 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.0079</radius>
</sphere>
</geometry>
<material>
<ambient>.4 .4 .5 .95</ambient>
<diffuse>.4 .4 .5 .95</diffuse>
<specular>1 1 1 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
<sensor name="imager" type="camera">
<pose>0 0 0 0 0 0</pose>
<camera>
<horizontal_fov>1.74</horizontal_fov>
<image>
<width>1280</width>
<height>960</height>
</image>
<clip>
<near>0.1</near>
<far>3000</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
<gravity>true</gravity>
<velocity_decay/>
</link>
</model>
</sdf>
Binary file added models/sprind/meshes/ccw_prop.stl
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Binary file added models/sprind/meshes/cw_prop.stl
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Binary file added models/sprind/meshes/sprind_compressed.stl
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15 changes: 15 additions & 0 deletions models/sprind/model.config
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<?xml version="1.0"?>
<model>
<name>sprind</name>
<version>1.0</version>
<sdf version='1.9'>model.sdf</sdf>

<author>
<name>Ani</name>
<email>[email protected]</email>
</author>

<description>
This is the model of SprinD.
</description>
</model>
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