feat: add max_angle and min_angle to 2d and 3d lidar models (#69)

robert-ros · web-flow · commit cb4e909e0a2c · 2025-11-27T17:09:54.000+01:00
diff --git a/robotnik_sensors/CHANGELOG.rst b/robotnik_sensors/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package robotnik_sensors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Unreleased
+----------
+* Add min_angle and max_angle to define angle limits for 2d and 3d laser in simulation
+
 2.1.0 (2025-09-11)
 ------------------
 * BRAKING_CHANGE: removed `gazebo_classic` parameter for sensor macros
diff --git a/robotnik_sensors/urdf/2d_lidar/hokuyo_urg04lx.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/hokuyo_urg04lx.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=hokuyo_urg04lx
             node_namespace:=${None}
+            min_angle:=-2.0943
+            max_angle:=2.0943
             topic_prefix:=~/">
     <!-- node_namespace is used from node_name if not set -->
     <xacro:if value="${node_namespace == None}">
@@ -71,8 +73,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.06"
       max_range="4.0"
-      min_angle="-2.0943"
-      max_angle="2.0943"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="10"
       resolution="0.004359297"
diff --git a/robotnik_sensors/urdf/2d_lidar/hokuyo_ust10lx.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/hokuyo_ust10lx.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=hokuyo_ust10lx
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -82,8 +84,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.06"
       max_range="10.0"
-      min_angle="-2.3562"
-      max_angle="2.3562"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="40"
       resolution="0.004359297"
diff --git a/robotnik_sensors/urdf/2d_lidar/hokuyo_ust20lx.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/hokuyo_ust20lx.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=hokuyo_ust20lx
             node_namespace:=${None}
+            min_angle:=-2.3562
+            max_angle:=2.3562
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -82,8 +84,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.06"
       max_range="20.0"
-      min_angle="-2.3562"
-      max_angle="2.3562"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="40"
       resolution="0.004359297"
diff --git a/robotnik_sensors/urdf/2d_lidar/hokuyo_utm30lx.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/hokuyo_utm30lx.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=hokuyo_utm30lx
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -77,8 +79,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.10"
       max_range="30.0"
-      min_angle="-2.35"
-      max_angle="2.35"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="30"
       resolution="0.01"
diff --git a/robotnik_sensors/urdf/2d_lidar/sick_microscan3.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/sick_microscan3.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=sick_microscan3
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -81,8 +83,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.05"
       max_range="64.0"
-      min_angle="-2.35"
-      max_angle="2.35"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="30"
       resolution="0.00575"
diff --git a/robotnik_sensors/urdf/2d_lidar/sick_nanoscan3.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/sick_nanoscan3.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=sick_nanoscan3
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -81,8 +83,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.05"
       max_range="40.0"
-      min_angle="${-radians(135)}"
-      max_angle="${radians(135)}"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="12.5"
       resolution="0.00575"
diff --git a/robotnik_sensors/urdf/2d_lidar/sick_outdoorscan3.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/sick_outdoorscan3.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=sick_outdoorscan3
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
diff --git a/robotnik_sensors/urdf/2d_lidar/sick_s300.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/sick_s300.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=sick_s300
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -80,8 +82,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.05"
       max_range="10.0"
-      min_angle="${-radians(130)}"
-      max_angle="${radians(130)}"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="25.0"
       resolution="0.00575"
diff --git a/robotnik_sensors/urdf/2d_lidar/sick_s3000.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/sick_s3000.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=sick_s3000
             node_namespace:=${None}
+            min_angle:=-1.62316
+            max_angle:=1.62316
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -80,8 +82,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.07"
       max_range="49.0"
-      min_angle="${-radians(93)}"
-      max_angle="${radians(93)}"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="15.0"
       resolution="0.00575"
diff --git a/robotnik_sensors/urdf/2d_lidar/sick_tim551.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/sick_tim551.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=sick_tim551
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -80,8 +82,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.05"
       max_range="30.0"
-      min_angle="${-radians(135)}"
-      max_angle="${radians(135)}"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="15.0"
       resolution="0.00575"
diff --git a/robotnik_sensors/urdf/2d_lidar/sick_tim571.urdf.xacro b/robotnik_sensors/urdf/2d_lidar/sick_tim571.urdf.xacro
@@ -13,6 +13,8 @@
             gazebo_ignition:=false
             node_name:=sick_tim571
             node_namespace:=${None}
+            min_angle:=-2.35
+            max_angle:=2.35
             topic_prefix:=~/
             gpu:=false">
     <!-- node_namespace is used from node_name if not set -->
@@ -80,8 +82,8 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.05"
       max_range="25.0"
-      min_angle="${-radians(130)}"
-      max_angle="${radians(130)}"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
       frame_link="${frame_prefix}link"
       rate="15.0"
       resolution="0.00575"
diff --git a/robotnik_sensors/urdf/3d_lidar/lidar_3d_plugin.urdf.xacro b/robotnik_sensors/urdf/3d_lidar/lidar_3d_plugin.urdf.xacro
@@ -11,6 +11,8 @@
             max_range
             min_angle
             max_angle
+            min_fov
+            max_fov
             frame_link
             rate
             horizontal_samples
@@ -29,14 +31,14 @@
               <horizontal>
                 <samples>${horizontal_samples}</samples>
                 <resolution>1</resolution>
-                <min_angle>${-radians(180)}</min_angle>
-                <max_angle>${radians(180)}</max_angle>
+                <min_angle>${min_angle}</min_angle>
+                <max_angle>${max_angle}</max_angle>
               </horizontal>
               <vertical>
                 <samples>${vertical_samples}</samples>
                 <resolution>1.0</resolution>
-                <min_angle>${radians(min_angle)}</min_angle>
-                <max_angle>${radians(max_angle)}</max_angle>
+                <min_angle>${min_fov}</min_angle>
+                <max_angle>${max_fov}</max_angle>
               </vertical>
             </scan>
             <range>
diff --git a/robotnik_sensors/urdf/3d_lidar/livox_mid_360.urdf.xacro b/robotnik_sensors/urdf/3d_lidar/livox_mid_360.urdf.xacro
@@ -11,6 +11,8 @@
             parent
             *origin
             gazebo_ignition:=false
+            max_angle:=${radians(180)}
+            min_angle:=${-radians(180)}
             node_name:=livox_mid_360
             node_namespace:=${None}
             topic_prefix:=~/
@@ -86,8 +88,10 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.1"
       max_range="100.0"
-      min_angle="0.0"
-      max_angle="85"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
+      min_fov="${radians(0)}"
+      max_fov="${radians(59)}"
       frame_link="${frame_prefix}link"
       rate="10"
       horizontal_samples="1200"
diff --git a/robotnik_sensors/urdf/3d_lidar/ouster.urdf.xacro b/robotnik_sensors/urdf/3d_lidar/ouster.urdf.xacro
@@ -11,6 +11,8 @@
             parent
             *origin
             gazebo_ignition:=false
+            max_angle:=${radians(180)}
+            min_angle:=${-radians(180)}
             node_name:=ouster
             node_namespace:=${None}
             topic_prefix:=~/
@@ -77,15 +79,17 @@
     </joint>
 
     <link name="${frame_prefix}link" />
-
+    <!-- Ouster OS2 -->
     <xacro:lidar_3d_plugin
       node_namespace="${node_namespace}"
       node_name="${node_name}"
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.1"
       max_range="50.0"
-      min_angle="0.0"
-      max_angle="85"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
+      min_fov="${-radians(11.25)}"
+      max_fov="${radians(11.25)}"
       frame_link="${frame_prefix}link"
       rate="10"
       horizontal_samples="1200"
diff --git a/robotnik_sensors/urdf/3d_lidar/robosense_bpearl.urdf.xacro b/robotnik_sensors/urdf/3d_lidar/robosense_bpearl.urdf.xacro
@@ -11,6 +11,8 @@
             parent
             *origin
             gazebo_ignition:=false
+            max_angle:=${radians(180)}
+            min_angle:=${-radians(180)}
             node_name:=robosense_bpearl
             node_namespace:=${None}
             topic_prefix:=~/
@@ -79,8 +81,10 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.1"
       max_range="100.0"
-      min_angle="0.0"
-      max_angle="85.0"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
+      min_fov="${radians(0)}"
+      max_fov="${radians(85)}"
       frame_link="${frame_prefix}link"
       rate="10"
       horizontal_samples="1200"
diff --git a/robotnik_sensors/urdf/3d_lidar/robosense_helios_16p.urdf.xacro b/robotnik_sensors/urdf/3d_lidar/robosense_helios_16p.urdf.xacro
@@ -11,6 +11,8 @@
             parent
             *origin
             gazebo_ignition:=false
+            max_angle:=${radians(180)}
+            min_angle:=${-radians(180)}
             node_name:=robosense_helios_16p
             node_namespace:=${None}
             topic_prefix:=~/
@@ -81,8 +83,10 @@
         gazebo_ignition="${gazebo_ignition}"
         min_range="0.2"
         max_range="60.0"
-        min_angle="-15.0"
-        max_angle="15.0"
+        min_angle="${min_angle}"
+        max_angle="${max_angle}"
+        min_fov="-0.2618"
+        max_fov="0.2618"
         frame_link="${frame_prefix}link"
         rate="5"
         horizontal_samples="900"
@@ -95,8 +99,10 @@
         gazebo_ignition="${gazebo_ignition}"
         min_range="0.2"
         max_range="150.0"
-        min_angle="-15.0"
-        max_angle="15.0"
+        min_angle="${min_angle}"
+        max_angle="${max_angle}"
+        min_fov="${-radians(15)}"
+        max_fov="${radians(15)}"
         frame_link="${frame_prefix}link"
         rate="10"
         horizontal_samples="1800"
diff --git a/robotnik_sensors/urdf/3d_lidar/sick_multiscan_100.urdf.xacro b/robotnik_sensors/urdf/3d_lidar/sick_multiscan_100.urdf.xacro
@@ -11,6 +11,8 @@
             parent
             *origin
             gazebo_ignition:=false
+            max_angle:=${radians(180)}
+            min_angle:=${-radians(180)}
             node_name:=sick_multiscan_100
             node_namespace:=${None}
             topic_prefix:=~/
@@ -86,8 +88,10 @@
       gazebo_ignition="${gazebo_ignition}"
       min_range="0.1"
       max_range="52.0"
-      min_angle="0.0"
-      max_angle="65"
+      min_angle="${min_angle}"
+      max_angle="${max_angle}"
+      min_fov="${-radians(32.5)}"
+      max_fov="${radians(32.5)}"
       frame_link="${frame_prefix}link"
       rate="10"
       horizontal_samples="1200"
diff --git a/robotnik_sensors/urdf/3d_lidar/velodyne_vlp16.urdf.xacro b/robotnik_sensors/urdf/3d_lidar/velodyne_vlp16.urdf.xacro
