兄弟们，urdf怎么在gazebo里面仿真32线的激光雷达啊

[1365953620]

鱼只讲了一线的
但是我得3D建图，哭了

[小鱼]

@1365953620 这样干！

<link name="laser_link">
 <sensor name='gpu_lidar' type='gpu_lidar'>
                <topic>lidar</topic>
                <update_rate>10</update_rate>
                <lidar>
                    <scan>
                        <horizontal>
                            <samples>640</samples>
                            <resolution>1</resolution>
                            <min_angle>-1.396263</min_angle>
                            <max_angle>1.396263</max_angle>
                        </horizontal>
                        <vertical>
                            <samples>16</samples>
                            <resolution>1</resolution>
                            <min_angle>-0.261799</min_angle>
                            <max_angle>0.261799</max_angle>
                        </vertical>
                    </scan>
                    <range>
                        <min>0.08</min>
                        <max>10.0</max>
                        <resolution>0.01</resolution>
                    </range>
                </lidar>
                <alwaysOn>1</alwaysOn>
                <visualize>true</visualize>
     </sensor>
</link>