fix: align MKMini lidar and world obstacles

src/nav2_turtlebot_simulator/launch/simulator.launch.py

@@ -220,6 +220,24 @@ def create_mkmini_world(gazebo_dir):
         except ValueError:
             continue
 
+    # The MKMini lidar is centered at 0.52 m. Raise the original 0.5 m white
+    # pillars so they remain observable obstacles instead of falling below the
+    # scan plane.
+    for element in (*model.findall('.//collision'), *model.findall('.//visual')):
+        cylinder = element.find('./geometry/cylinder')
+        if cylinder is None:
+            continue
+        if cylinder.findtext('radius') != '0.15' or cylinder.findtext('length') != '0.5':
+            continue
+        cylinder.find('length').text = '0.8'
+        pose = element.find('pose')
+        if pose is None:
+            continue
+        values = pose.text.split()
+        if len(values) == 6:
+            values[2] = '0.4'
+            pose.text = ' '.join(values)
+
     model_tree.write(
         os.path.join(model_dir, 'model.sdf'),
         encoding='utf-8',

src/nav2_turtlebot_simulator/models/mkmini_gazebo/model.sdf

@@ -25,7 +25,7 @@
     <link name="rear_right_wheel"><pose>-0.30 -0.36 0 0 0 0</pose><inertial><mass>1.0</mass><inertia><ixx>0.02</ixx><iyy>0.01</iyy><izz>0.02</izz></inertia></inertial><collision name="collision"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry></collision><visual name="visual"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry><material><ambient>0.04 0.04 0.04 1</ambient><diffuse>0.04 0.04 0.04 1</diffuse></material></visual></link>
     <joint name="rear_right_joint" type="revolute"><parent>base_link</parent><child>rear_right_wheel</child><axis><xyz>0 1 0</xyz></axis></joint>
 
-    <link name="os_lidar"><pose>0 0 0.52 0 0 0</pose><inertial><mass>0.2</mass><inertia><ixx>0.001</ixx><iyy>0.001</iyy><izz>0.001</izz></inertia></inertial>
+    <link name="os_lidar"><pose>0 0 0.6 0 0 0</pose><inertial><mass>0.2</mass><inertia><ixx>0.001</ixx><iyy>0.001</iyy><izz>0.001</izz></inertia></inertial>
       <visual name="visual"><geometry><cylinder><radius>0.075</radius><length>0.10</length></cylinder></geometry><material><ambient>0.85 0.12 0.10 1</ambient><diffuse>0.85 0.12 0.10 1</diffuse></material></visual>
       <sensor name="lidar_3d" type="ray"><always_on>true</always_on><update_rate>10</update_rate><visualize>false</visualize><ray><scan><horizontal><samples>360</samples><resolution>1</resolution><min_angle>-3.14159</min_angle><max_angle>3.14159</max_angle></horizontal><vertical><samples>16</samples><resolution>1</resolution><min_angle>-0.26</min_angle><max_angle>0.26</max_angle></vertical></scan><range><min>0.20</min><max>18.0</max><resolution>0.02</resolution></range></ray><plugin name="mkmini_lidar" filename="libgazebo_ros_ray_sensor.so"><ros><remapping>~/out:=/raw/lidar</remapping></ros><output_type>sensor_msgs/PointCloud2</output_type><frame_name>os_lidar</frame_name></plugin></sensor>
     </link>