ros2+gazebo+传感器sdf文件

    
        
            0.001
            1.0
        
        
        
        
        
        
        
        
        
        
            ogre2
        
        
        
        

          
          
            
              
              false
              docked
            

            ogre2
            scene
            0.4 0.4 0.4
            0.8 0.8 0.8
            -6 0 6 0 0.5 0
            
              0.25
              25000
            
          

          
          
            
              floating
              5
              5
              false
            
          
          
            
              false
              5
              5
              floating
              false
            
          
          
            
              false
              5
              5
              floating
              false
            
          
          
            
              false
              5
              5
              floating
              false
            
          
          
            
              false
              5
              5
              floating
              false
            
          
          
            
              
                
                
              
              false
              5
              5
              floating
              false
            
          
          
            
              false
              5
              5
              floating
              false
            
          

          
            
              
                
                
              
              false
              5
              5
              floating
              false
            
          

          
          
            
              
              false
              false
              72
              121
              1

              floating
              
                
                
              
            

            true
            true
            true
            true

          

          
          
            
              
              false
              false
              110
              290
              1

              floating
              
                
                
              
            

            true
            true
            true
            true
          

          
          
            
              false
              0
              0
              250
              50
              floating
              false
              #666666
            
          

          
          
            
              false
              250
              0
              150
              50
              floating
              false
              #666666
            
          

          
          
            
              false
              0
              50
              250
              50
              floating
              false
              #777777
            
          

          
          
            
              false
              250
              50
              50
              50
              floating
              false
              #777777
            
          

          
          
            
              false
              300
              50
              50
              50
              floating
              false
              #777777
            

            
              true
              false
              4000000
            
          

          
          
            
              docked_collapsed
            
          

          
          
            
              docked_collapsed
            
          

          
          
            
              docked_collapsed
            
          

            
            

        

        
            true
            0 0 10 0 0 0
            0.8 0.8 0.8 1
            0.2 0.2 0.2 1
            
                1000
                0.9
                0.01
                0.001
            
            -0.5 0.1 -0.9
        

        
            true
            
                
                
                    
                    0 0 1
                    
                
                
                
                
                    
                    0 0 1
                    100 100
                    
                
                
                    0.8 0.8 0.8 1
                    0.8 0.8 0.8 1
                    0.8 0.8 0.8 1
                
                
            
        

        
            0 0 1 0 0 0   

            
                0.8 0 0.5 0 0 0
            

            
                0.5 0 0.4 0 0 0
                 
                    1.14395
                    
                        0.126164
                        0
                        0
                        0.416519
                        0
                        0.481014
                    
                
                
                    
                        
                            2.0 1.0 0.5 
                        
                    
                    
                    
                        0.0 0.0 1.0 1
                        0.0 0.0 1.0 1
                        0.0 0.0 1.0 1
                    
                
                 
                    
                        
                            2.0 1.0 0.5
                        
                    
                
                
                    1
                    1
                    true
                    imu
                
                "
                    0 0 0 0 0 0
                    lidar
                    10
                    
                        
                            
                            640
                            1
                            -1.396263
                            1.396263
                            
                            
                            1
                            0.01
                            0
                            0
                            
                        
                    
                        0.08
                        10.0
                        0.01
                    
                    
                    1
                    true
                
            

            
            
                -0.5 0.6 0 -1.5707 0 0 
                
                    2
                    
                        0.145833
                        0
                        0
                        0.145833
                        0
                        0.125
                    
                
                
                    
                        
                            0.4
                            0.2
                        
                    
                    
                        1.0 0.0 0.0 1
                        1.0 0.0 0.0 1
                        1.0 0.0 0.0 1
                    
                
                
                    
                        
                            0.4
                            0.2
                        
                    
                
            

            
            
                -0.5 -0.6 0 -1.5707 0 0 
                
                    1
                    
                        0.145833
                        0
                        0
                        0.145833
                        0
                        0.125
                    
                
                
                    
                        
                            0.4
                            0.2
                        
                    
                    
                        1.0 0.0 0.0 1
                        1.0 0.0 0.0 1
                        1.0 0.0 0.0 1
                    
                
                
                    
                        
                            0.4
                            0.2
                        
                    
                
            

            
                0.8 0 -0.2 0 0 0
            

            
            
                
                
                    1
                    
                        0.1
                        0
                        0
                        0.1
                        0
                        0.1
                    
                
                
                    
                        
                            0.2
                        
                    
                    
                        0.0 1 0.0 1
                        0.0 1 0.0 1
                        0.0 1 0.0 1
                    
                
                
                    
                        
                            0.2
                        
                    
                
            

            
             
                
                chassis
                left_wheel
                
                    0 1 0 
                    
                        -1.79769e+308    
                        1.79769e+308     
                    
                
            

            
                
                chassis
                right_wheel
                
                    0 1 0
                    
                        -1.79769e+308    
                        1.79769e+308     
                    
                
            

             
            
                chassis
                caster
            

            
            
                left_wheel_joint
                right_wheel_joint
                1.2
                0.4
                1
                cmd_vel
            
        

        
        
            true
            5 0 0 0 0 0
            
                
                 
                    1.14395
                    
                        9.532917
                        0
                        0
                        0.023832
                        0
                        9.556749
                    
                
                
                    
                        
                            0.5 10.0 2.0
                        
                    
                    
                    
                        0.0 0.0 1.0 1
                        0.0 0.0 1.0 1
                        0.0 0.0 1.0 1
                    
                
                 
                    
                        
                            0.5 10.0 2.0
                        
                    
                
                
                    
                        collision
                    
                
            
            
                vehicle_blue
                wall
                0.001
                true
            
        

        
        
            
                16777234
            
            

                linear: {x: 0.0}, angular: {z: 0.5}
            
        
        
        
            
                16777235
            
            

                linear: {x: 0.5}, angular: {z: 0.0}
            
        
        
        
            
                16777236
            
            

                linear: {x: 0.0}, angular: {z: -0.5}
            
        
        
        
            
                16777237
            
            

                linear: {x: -0.5}, angular: {z: 0.0}
            
        

        
        
            
                data: true
            
            

                linear: {x: 0.0}, angular: {z: 0.0}