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Add X500 Lidar Models#62

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Claudio-Chies merged 2 commits intomainfrom
pr-x500_lidar_models
Nov 5, 2024
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Add X500 Lidar Models#62
Claudio-Chies merged 2 commits intomainfrom
pr-x500_lidar_models

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@Claudio-Chies Claudio-Chies commented Nov 1, 2024 •
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Issue Tracked in PX4/PX4-Autopilot#23602

This PR Adds two X500 models, one with a front facing rangefinder for collision prevention, and one down facing lidar for normal rangefinder use case testing.
For the model and specs, i used a Lightware LW20/C
I also renamed the x500_lidar to x500_lidar_2d, to better differentiate the three

Changes:

New Models:
x500_lidar_front
x500_lidar_front

changes:
x500_lidar --> x500_lidar_2d
moved from gpu_ray to gpu_lidar, as gpu_ray will be deprecated

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@Claudio-Chies Claudio-Chies mentioned this pull request Nov 1, 2024
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dakejahl commented Nov 1, 2024

It might make more sense to create a distance_sensor model and then attach that with different orientations. Like in this PR
https://github.com/PX4/PX4-gazebo-models/pull/51/files#diff-b583a7cbffcfe5cd3e7660c84fa84e9c9705d39dd684fc521a623041c1f04e1f

I did this a while back to test optical flow with gz
PX4/PX4-Autopilot#23456

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Claudio-Chies commented Nov 1, 2024 •
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@dakejahl yea, that would be nicer.
my starting point was the broadcom optical flow lidar, which was also implemented this way. The problem i had was that the orientation in the gazebo message is only from the <pose> in the <sensor> tag, and not the orientation from the sensor in respect of the body. Meaning i dont get the sensor to body orientation in the GZBridge. Which is why i implemented it this way.
This way i can then set the orientation enum in the UORB message based on the quaterion sent in the gz message.

It might be that i missed something and its actually possible. But i couldnt get it working.

@Claudio-Chies Claudio-Chies marked this pull request as ready for review November 4, 2024 09:49
@Claudio-Chies Claudio-Chies merged commit 9e47793 into main Nov 5, 2024
@Claudio-Chies Claudio-Chies deleted the pr-x500_lidar_models branch November 5, 2024 07:45
@Perrrewi Perrrewi mentioned this pull request Nov 11, 2024
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@Claudio-Chies Claudio-Chies mentioned this pull request Nov 12, 2024
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Pedro-Roque pushed a commit that referenced this pull request Dec 8, 2025
@Claudio-Chies
X500 Lidar Models (#62)
8a07fbc 
* added x500 model with frontfacing and downfacing lidar

* rename of x500_lidar to x_500_lidar_2d
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@dakejahl dakejahl dakejahl approved these changes

@Jaeyoung-Lim Jaeyoung-Lim Awaiting requested review from Jaeyoung-Lim

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@Claudio-Chies @dakejahl @dirksavage88