<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

    <xacro:arg name="laser_visual"  default="false"/>

    <joint name="laser_joint" type="fixed">
        <parent link="chassis"/>
        <child link="laser_frame"/>
        <origin xyz="0.1 0 0.175" rpy="0 0 0"/>
    </joint>

    <link name="laser_frame">
        <visual>
            <geometry>
                <cylinder radius="0.05" length="0.04"/>
            </geometry>
            <material name="red"/>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="0.05" length="0.04"/>
            </geometry>
        </collision>
        <xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
            <origin xyz="0 0 0" rpy="0 0 0"/>
        </xacro:inertial_cylinder>
    </link>

    <!-- <gazebo reference="laser_frame">
        <material>Gazebo/FlatBlack</material>
        <sensor type="ray" name="lds_lfcd_sensor">
        <pose>0 0 0 0 0 0</pose>
        <visualize>$(arg laser_visual)</visualize>
        <update_rate>5</update_rate>
        <ray>
            <scan>
            <horizontal>
                <samples>360</samples>
                <resolution>1</resolution>
                <min_angle>0.0</min_angle>
                <max_angle>6.28319</max_angle>
            </horizontal>
            </scan>
            <range>
            <min>0.120</min>
            <max>3.5</max>
            <resolution>0.015</resolution>
            </range>
            <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
            </noise>
        </ray>
        <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
            <topicName>scan</topicName>
            <frameName>laser_frame</frameName>
        </plugin>
        </sensor>
    </gazebo> -->

</robot>