advanced_plane: added lidar

Author: dakejahl

models/advanced_plane/model.sdf

@@ -373,6 +373,67 @@
         </ode>
       </physics>
     </joint>
+    <!-- Include LW20 model for visuals only -->
+    <include merge='true'>
+      <uri>model://LW20</uri>
+      <pose relative_to="base_link">0.05 0 -0.1 0 1.57 0</pose>
+    </include>
+
+    <!-- Joint to connect LW20 visual model to plane -->
+    <joint name="lidar_model_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>lw20_link</child>
+      <pose relative_to="base_link">0 0 0 0 0 0</pose>
+    </joint>
+
+    <!-- Joint to connect actual lidar sensor link to plane -->
+    <joint name="lidar_sensor_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>lidar_sensor_link</child>
+    </joint>
+
+    <!-- Define actual lidar sensor link with properly oriented sensor -->
+    <link name="lidar_sensor_link">
+      <pose relative_to="base_link">0.05 0 0 0 1.57 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <iyy>0.00001</iyy>
+          <izz>0.00001</izz>
+          <ixy>0.0</ixy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+        </inertia>
+      </inertial>
+      <sensor name='lidar' type='gpu_lidar'>
+        <pose>0 0 0 0 0 0</pose>
+        <update_rate>50</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>1</samples>
+              <resolution>1</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>100.0</max>
+            <resolution>0.01</resolution>
+          </range>
+        </ray>
+        <always_on>1</always_on>
+        <visualize>true</visualize>
+      </sensor>
+    </link>
     <plugin
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
       <joint_name>servo_0</joint_name>