<sdf version='1.6'>
  <model name='livox_avia'>
    <link name='livox_base'>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <inertial>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.02</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.02</iyy>
          <iyz>0</iyz>
          <izz>0.02</izz>
        </inertia>
      </inertial>
      <collision name='livox_base_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://livox_laser_simulation/meshes/livox_mid40.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='livox_base_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://livox_laser_simulation/meshes/livox_mid40.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <sensor name='laser_livox' type='ray'>
        <visualize>1</visualize>
        <update_rate>10</update_rate>
        <plugin name='gazebo_ros_laser_controller' filename='liblivox_laser_simulation.so'>
          <ray>
            <scan>
              <horizontal>
                <samples>100</samples>
                <resolution>1</resolution>
                <min_angle>-0.614355377778</min_angle>
                <max_angle>0.614355377778</max_angle>
              </horizontal>
              <vertical>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.673696522222</min_angle>
                <max_angle>0.673696522222</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.1</min>
              <max>200.0</max>
              <resolution>0.002</resolution>
            </range>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.01</stddev>
            </noise>
          </ray>
          <visualize>1</visualize>
          <samples>24000</samples>
          <downsample>1</downsample>
          <csv_file_name>package://livox_laser_simulation/scan_mode/avia.csv</csv_file_name>
          <ros_topic>scan</ros_topic>
        </plugin>
        <pose frame=''>0 0 0 0 -0 1.57</pose>
      </sensor>
    </link>
  </model>
</sdf>
