ROS2 URDF Gazebo Sensor Share

Laser Scanner

<gazebo reference="scanner_link">
    <sensor name="rplidar_a3" type="ray">
        <always_on>true</always_on>
        <visualize>false</visualize>
        <pose>0.0 0 0.0 0 0 0</pose>
        <update_rate>15</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>667</samples>
              <resolution>0.54</resolution>
              <min_angle>0.000000</min_angle>
              <max_angle>6.280000</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120000</min>
            <max>20</max>
            <resolution>0.54</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
        </ray>
        <plugin name="bytes_laserscan" filename="libgazebo_ros_ray_sensor.so">
          <ros>
              <namespace>lidar</namespace>
            <remapping>~/out:=scan</remapping>
          </ros>
          <output_type>sensor_msgs/LaserScan</output_type>
          <frame_name>head</frame_name>
        </plugin>
    </sensor>
    <material>Gazebo/Purple</material>
</gazebo>