Add Seyond description with lower-than-reality resolution & correct FoV for simulation. Fix math for calculating the number of samples

Author: civerachb-cpr

clearpath_generator_common/clearpath_generator_common/description/sensors.py

@@ -208,6 +208,23 @@ def __init__(self, sensor: OusterOS1) -> None:
                 self.CAP_TYPE: sensor.cap_type,
             })
 
+    class SeyondLidarDescription(Lidar3dDescription):
+
+        def __init__(self, sensor: BaseLidar3D) -> None:
+            super().__init__(sensor)
+
+            self.parameters.update({
+                self.ANGULAR_RESOLUTION_H: 0.01,
+                self.ANGULAR_RESOLUTION_V: 0.01,
+                self.MINIMUM_ANGLE_H: -1.0471975511965976,
+                self.MAXIMUM_ANGLE_H: 1.0471975511965976,
+                self.MINIMUM_ANGLE_V: -0.6108652381980153,
+                self.MAXIMUM_ANGLE_V: 0.6108652381980153,
+                self.MINIMUM_RANGE: 0.1,
+                self.MAXIMUM_RANGE: 150.0,
+                self.UPDATE_RATE: 20  # TODO: link to clearpath_config property
+            })
+
     class ImuDescription(BaseDescription):
         UPDATE_RATE = 'update_rate'
 
@@ -280,7 +297,7 @@ def __init__(self, sensor: StereolabsZed) -> None:
         AxisCamera.SENSOR_MODEL: AxisCameraDescription,
         Microstrain.SENSOR_MODEL: ImuDescription,
         OusterOS1.SENSOR_MODEL: OusterOS1Description,
-        SeyondLidar.SENSOR_MODEL: Lidar3dDescription,
+        SeyondLidar.SENSOR_MODEL: SeyondLidarDescription,
         VelodyneLidar.SENSOR_MODEL: Lidar3dDescription,
         CHRoboticsUM6.SENSOR_MODEL: ImuDescription,
         RedshiftUM7.SENSOR_MODEL: ImuDescription,

clearpath_sensors_description/urdf/seyond_lidar.urdf.xacro

@@ -55,8 +55,8 @@
             <origin xyz="0 0 0.042" rpy="0 0 0" />
         </joint>
 
-        <xacro:property name="samples_h" value="${round((max_ang_h - min_ang_h) * 180 / (ang_res_h * pi))}"/>
-        <xacro:property name="samples_v" value="${round((max_ang_v - min_ang_v) * 180 / (ang_res_v * pi))}"/>
+        <xacro:property name="samples_h" value="${round((max_ang_h - min_ang_h) / ang_res_h)}"/>
+        <xacro:property name="samples_v" value="${round((max_ang_v - min_ang_v) / ang_res_v)}"/>
         <gazebo reference="${name}_laser">
             <sensor name="${name}" type="gpu_lidar">
                 <update_rate>${update_rate}</update_rate>