VLP-16 horizontal resolution and rate on submitted models

[acschang]

These changes only apply to models in the submitted_models folder.

I tested all changes to LIDAR parameters by checking the points topic with rostopic echo <topic_name> --noarr and visual inspection in RViz.

[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[peci1]

As pointed out in #691, shouldn't this also affect the default X1-X4 robots?

[AravindaDP]

I suggest increasing horizontal resolution to 1 as well. Otherwise I guess accuracy could become far inferior to physical sensor.

[acschang]

I suggest increasing horizontal resolution to 1 as well. Otherwise I guess accuracy could become far inferior to physical sensor.

I agree that the parameter should be 1.0 however whenever I experimentally tested the impact of changing resolution I could not find any difference between. This could be indicative of a larger problem with horizontal LIDAR ray resolution.

Experimentally I tested values of 1.0, 0.1, and 0.01 in the resolution parameter for horizontal returns without luck.

[AravindaDP]

Probably you are right. May be gpu ray sensor doesn't even use that parameter. (Just a thought need to check code to confirm) Or the way we think what that parameter is for, is incorrect.

[acschang]

It does not currently factor in that parameter. I'm looking into the issue a bit more before submitting an issue on the Ignition repositories.

[AravindaDP]

As @peci1 pointed out models of default X1-X4 robots would also need update. But I guess they are in a private repo.

[acschang]

As pointed out in #691, shouldn't this also affect the default X1-X4 robots?

As @peci1 pointed out models of default X1-X4 robots would also need update. But I guess they are in a private repo.

The X1-X4 vehicles are version controlled through Ignition fuel as opposed to through this repository. A separate request has been put in to update those models directly on Ignition fuel.

[nkoenig]

The models on Fuel have been updated.