- mkdir build && cd build
- cmake ..
- make
<!-- Ouster Augment -->
<link name="os1_sensor">
<inertial>
<mass value="0.33"/>
<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"/>
</inertial>
<collision name="base_collision">
<origin xyz="0 0 0.0365" rpy="0 0 0" />
<geometry>
<cylinder radius="0.04" length="0.073"/>
</geometry>
</collision>
<visual name="base_visual">
<origin xyz="0 0 0.0" rpy="0 0 1.5707" />
<geometry>
<mesh filename="package://ouster_description/meshes/os1_64.dae" />
<!-- <cylinder length="0.073" radius="0.04" /> -->
</geometry>
</visual>
</link>
<joint name="os1_sensor_lidar_link_joint" type="fixed">
<parent link="base_link" />
<child link="os1_sensor" />
<origin xyz="0.18 0.0 0.218" rpy="0 0 0" /> <!-- 0.03618 is the default height -->
</joint>
<!-- Ouster gazebo library -->
<gazebo reference="os1_sensor">
<sensor type="ray" name="os1_sensor-OS1-64">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>220</samples> <!-- 512 default-->
<resolution>1</resolution>
<min_angle>-3.1415926535897931</min_angle>
<max_angle>3.1415926535897931</max_angle>
</horizontal>
<vertical>
<samples>64</samples>
<resolution>1</resolution>
<min_angle>-0.26</min_angle>
<max_angle>0.26</max_angle>
</vertical>
</scan>
<range>
<min>0.90</min>
<max>75.0</max>
<resolution>0.03</resolution>
</range>
</ray>
<plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_ouster_laser.so">
<topicName>/os1_cloud_node/points</topicName>
<frameName>os1_sensor</frameName>
<min_range>0.90</min_range>
<max_range>75.0</max_range>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
</gazebo>