Feature/rplidar a2 urdf

urdf/rplidar.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="rplidar_a2" params="name ros_topic min_angle:=-3.142 max_angle:=3.142 min_range:=0.15 max_range:=6">
+    <xacro:laser name="${name}" ros_topic="${ros_topic}" 
+      length="0.07250" width="0.07250" height="0.04080" mass="0.250" z_offset="0.03080"
+      update_rate="10.0" samples="400" resolution="0.9"
+      min_range="${min_range}" max_range="${max_range}"
+      min_angle="${min_angle}" max_angle="${max_angle}"
+      mesh="package://rplidar_ros/urdf/stl/rplidar_a2_simple.stl" />
+  </xacro:macro>
+
+  <xacro:macro name="laser" params="name ros_topic length width height mass z_offset update_rate samples resolution min_angle max_angle min_range max_range mesh">
+    <!-- z_offset: distance between base plate and laser center (= center of mesh) -->
+    <link name="${name}_mount_link">
+      <inertial>
+        <mass value="0.001" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.000001" ixy="0.0" ixz="0.0"
+          iyy="0.000001" iyz="0.0" izz="0.000001" />
+      </inertial>
+    </link>
+
+    <joint name="${name}_joint" type="fixed">
+      <parent link="${name}_mount_link" />
+      <child link="${name}" />
+      <origin rpy="0 0 0" xyz="0 0 ${z_offset}"/>
+    </joint>
+
+    <link name="${name}">
+      <visual>
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+        <material name="red" >
+          <color rgba="1 0 0 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="${mass}" />
+        <origin xyz="0 0 -0.026" />
+        <inertia ixx="${0.0833333 * mass * (width * width + height * height)}" ixy="0.0" ixz="0.0"
+          iyy="${0.0833333 * mass * (length * length + height * height)}" iyz="0.0"
+          izz="${0.0833333 * mass * (length * length + width * width)}" />
+      </inertial>
+    </link>
+    <xacro:laser_gazebo_v1 name="${name}" link="${name}" ros_topic="${ros_topic}" 
+      update_rate="${update_rate}" samples="${samples}" resolution="${resolution}"
+      min_angle="${min_angle}" max_angle="${max_angle}" 
+      min_range="${min_range}" max_range="${max_range}"/>
+  </xacro:macro>
+
+
+  <xacro:macro name="laser_gazebo_v1" params="name link ros_topic update_rate samples resolution min_angle max_angle min_range max_range">
+    <gazebo reference="${link}">
+      <material value="Gazebo/Red" />
+      <sensor type="ray" name="${name}">
+        <always_on>true</always_on>
+        <update_rate>${update_rate}</update_rate>
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>${samples}</samples>
+              <resolution>${resolution}</resolution>
+              <min_angle>${min_angle}</min_angle>
+              <max_angle>${max_angle}</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>${min_range}</min>
+            <max>${max_range}</max>
+            <resolution>0.01</resolution>
+          </range>
+        </ray>
+        <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
+          <gaussianNoise>0.005</gaussianNoise>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>${update_rate}</updateRate>
+          <topicName>${ros_topic}</topicName>
+          <frameName>${link}</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>

urdf/rplidar_A2.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro"
+  name="rplidar">
+
+  <xacro:include filename="$(find rplidar_ros)/urdf/rplidar.urdf.xacro" />
+
+  <xacro:rplidar_a2 name="rplidar_laser" ros_topic="scan" />
+</robot>