mid40.xacro

<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:property name="M_PI" value="3.14159"/> 
  <xacro:property name="laser_min_range" value="0.1"/>
  <xacro:property name="laser_max_range" value="200.0"/>
  <xacro:property name="horizontal_fov" value="81.7"/>
  <xacro:property name="vertical_fov" value="25.1"/>
  <xacro:property name="ros_topic" value="scan"/>
  <xacro:property name="samples" value="24000"/>
  
<xacro:property name="mass" value="0.4" />
<xacro:property name="length" value="0.1" />
<xacro:property name="width" value="0.06" />
<xacro:property name="height" value="0.06" />

  <xacro:macro name="box_inertia" params="m w h d">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
    </inertial>
  </xacro:macro>



  <xacro:macro name="mid40" params="name:='' parent:= 'base_link' topic:='mid40' *origin ">

<link name="${name}">
<xacro:box_inertia m="${length}" w="${width}" d="${length}" h="${height}"/>
  <visual>
        <geometry>
            <box size="${length} ${width} ${height}"/>
        </geometry>
  </visual>
</link>

    <joint name="${name}_joint" type="fixed">
      <parent link="${parent}"/>
      <child link="${name}"/>
      <xacro:insert_block name="origin"/>
    </joint>

    <gazebo reference="${name}">
      <sensor type="ray" name="${name}">
        <pose>0 0 0 0 0 0</pose>
        <visualize>true</visualize>
        <update_rate>10</update_rate>
        <!-- This ray plgin is only for visualization. -->
        <plugin name="${name}_plugin" filename="libros2_livox.so">
			<ray>
			  <scan>
				<horizontal>
				<samples>100</samples>
				<resolution>1</resolution>
				<min_angle>${-horizontal_fov/360*M_PI}</min_angle>
				<max_angle>${horizontal_fov/360*M_PI}</max_angle>
				</horizontal>
				<vertical>
				<samples>50</samples>
				<resolution>1</resolution>
				<min_angle>${-vertical_fov/360*M_PI}</min_angle>
				<max_angle>${vertical_fov/360*M_PI}</max_angle>
				</vertical>
			  </scan>
			  <range>
				<min>${laser_min_range}</min>
				<max>${laser_max_range}</max>
				<resolution>${resolution}</resolution>
			  </range>
			  <noise>
				<type>gaussian</type>
				<mean>${noise_mean}</mean>
				<stddev>${noise_stddev}</stddev>
			  </noise>
			</ray>
          <visualize>false</visualize>
		  <samples>${samples}</samples>
		  <downsample>1</downsample>
		  <csv_file_name>$(find ros2_livox_simulation)/scan_mode/mid40.csv</csv_file_name>
		  <topic>${topic}</topic>
        </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>

</robot>