We have created an SDF model of the Velodyne HDL-32 LiDAR that has visual meshes and generates data with a noise model.
In this section, we will learn how to contribute the model to the online database.
Contributing our model to Gazebo's online-databse benefits you and every other user of Gazebo. When the model is hosted on the database, Gazebo will automatically download it when requested. This means you don't have to manage which computers have the model and which do not. Additionally, other people can use your model.
gazebo_models database by visiting https://bitbucket.org/osrf/gazebo_models/fork.
Clone your fork of model database.
cd hg clone URL_OF_YOUR_FORK
Look at the directories in your cloned repository to make sure your model does not already exist.
Copy the model from
~/.gazebo/models to the cloned repository.
cp -r ~/.gazebo/models/velodyne-hdl32 ~/gazebo_models
Make a new branch, which will make the pull-request process a bit easier.
cd ~/gazebo_models hg branch velodyne_tutorial_do_not_merge
Add, commit, and push your model.
hg add velodyne*
hg commit -m "Added a Velodyne HDL-32 LiDAR"
hg push --new-branch
Create a pull-request back to the main
URL_OF_YOUR_FORKin a webbrowser
Create pull requeston the left
Create Pull Requestbutton.
Two approvals of your pull request are required before it will be merged
into the main
gazebo_models repository. Please respond to any comments
quickly in order to expedite the process.
The next tutorial in this series will add a plugin to the Velodyne sensor. This plugin will control the rotation of the sensor's upper portion.