Skip to content

Add Iris model with a depth camera and downward-facing lidar #999

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Add Iris model with a depth camera and downward-facing lidar #999

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 19 additions & 0 deletions models/iris_depth_camera_downward_lidar/iris_depth_camera_downward_lidar.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name='iris_depth_camera_downward_lidar'>
<include>
<uri>model://iris_depth_camera</uri>
</include>

<!--downward-facing lidar-->
<include>
<uri>model://lidar</uri>
<pose>-0.1 0 -0.01 0 0 0</pose>
</include>
<joint name="lidar_joint" type="fixed">
<parent>iris_depth_camera::iris::base_link</parent>
<child>lidar::link</child>
</joint>

</model>
</sdf>
15 changes: 15 additions & 0 deletions models/iris_depth_camera_downward_lidar/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>3DR Iris with depth camera and downward-facing Lidar</name>
<version>1.0</version>
<sdf version='1.0'>iris_depth_camera_downward_lidar.sdf</sdf>

<author>
<name>Daniel Mesham</name>
<email>daniel@auterion.com</email>
</author>

<description>
A model of the 3DR Iris Quadrotor with a forward-facing depth camera and a downward-facing Lidar.
</description>
</model>