From d9716d09053168d2c8edd12fde6db6e57505cdf5 Mon Sep 17 00:00:00 2001
From: cesar <cesar.rodriguez@spirirobotics.com>
Date: Tue, 26 Apr 2022 12:20:47 -0300
Subject: [PATCH] Changed sonar w/ opt_flow

---
 models/spiri/spiri.sdf | 86 ++++++++++++++++--------------------------
 1 file changed, 33 insertions(+), 53 deletions(-)

diff --git a/models/spiri/spiri.sdf b/models/spiri/spiri.sdf
index f94ebb4..9dddf5e 100644
--- a/models/spiri/spiri.sdf
+++ b/models/spiri/spiri.sdf
@@ -408,58 +408,10 @@
 	       <child>gps0_link</child>
 	     </joint>
 	     </model>
-  <!--model name="sonar">
-    <link name="sonar_link">
-      <pose>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.000000000000001</mass>
-        <inertia>
-          <ixx>2.08333333e-7</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>2.08333333e-7</iyy>
-          <iyz>0</iyz>
-          <izz>4.16666667e-8</izz>
-        </inertia>
-      </inertial>
-      <visual name="visual">
-        <geometry>
-          <box>
-            <size>0.005 0.015 0.005</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Black</name>
-          </script>
-        </material>
-      </visual>
-      <sensor name="sonar" type="sonar">
-        <pose>0 0 0 0 0 0</pose>
-        <sonar>
-          <min>0.02</min>
-          <max>10.0</max>
-          <radius>1.33974388395</radius>
-        </sonar>
-        <plugin name="SonarPlugin" filename="libgazebo_sonar_plugin.so">
-          <robotNamespace></robotNamespace>
-    	  	<topic>/height_cesar</topic>
-        </plugin>
-        <always_on>1</always_on>
-        <update_rate>20</update_rate>
-        <visualize>true</visualize>
-      </sensor>
-    </link>
-  </model>
-	    <joint name='sonar_joint' type='fixed'>
-	      <parent>base</parent>
-	      <child>sonar_link</child>
-	    </joint-->
-<!--sonar-->
+<!--sonar>
   <link name="sonar_link">
     <pose frame=''>0 0 0 0 1.57 0</pose>
-    <inertial> <!-- causes issues when omitted -->
+    <inertial> <! causes issues when omitted >
       <mass>0.05</mass>
       <inertia>
         <ixx>2.08333333333e-07</ixx>
@@ -495,8 +447,8 @@
           </horizontal>
         </scan>
         <range>
-          <min>0.06</min> <!-- do not lower past 0.06 -->
-          <max>35</max>   <!-- do not increase past 35 -->
+          <min>0.06</min> <! do not lower past 0.06 >
+          <max>35</max>   <! do not increase past 35 >
           <resolution>0.01</resolution>
         </range>
         <noise>
@@ -519,7 +471,35 @@
   <joint name="sonar_joint" type="fixed">
     <parent>base</parent>
     <child>sonar_link</child>
-  </joint>
+  </joint-->
+   <!--px4flow camera-->
+    <include>
+      <uri>model://px4flow</uri>
+      <pose>0.05 0 -0.05 0 0 0</pose>
+    </include>
+
+    <joint name="px4flow_joint" type="revolute">
+      <parent>spiri::base</parent>
+      <child>px4flow::link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <upper>0</upper>
+          <lower>0</lower>
+        </limit>
+      </axis>
+    </joint>
+
+    <!--lidar-->
+    <include>
+      <uri>model://lidar</uri>
+      <pose>0 0 -0.05 0 0 0</pose>
+    </include>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>spiri::base</parent>
+      <child>lidar::link</child>
+    </joint>
 	    <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
 	      <robotNamespace/>
 	      <linkName>base</linkName>