added flipped model so that the lidar is simulated on the ceiling as well

Author: amock

mesh_navigation_tutorials/config/mbf_mesh_nav.yaml

@@ -61,8 +61,8 @@ move_base_flex:
       inflation:
         type: 'mesh_layers/InflationLayer'
         factor: 1.0
-        inflation_radius: 0.2
-        inscribed_radius: 0.4
+        inflation_radius: 0.5
+        inscribed_radius: 0.7
         lethal_value: 1.0
-        inscribed_value: 0.8
+        inscribed_value: 0.6
         repulsive_field: false

mesh_navigation_tutorials_sim/models/parking_garage/model.sdf

@@ -20,5 +20,23 @@
       </geometry>
     </visual>
   </link>
+  <link name="link_flipped">
+    <collision name="collision">
+      <geometry>
+        <mesh>
+          <scale>1 1 1</scale>
+          <uri>meshes/parking_garage_flipped.dae</uri>
+        </mesh>
+      </geometry>
+    </collision>
+    <visual name="visual">
+      <geometry>
+        <mesh>
+          <scale>1 1 1</scale>
+          <uri>meshes/parking_garage_flipped.dae</uri>
+        </mesh>
+      </geometry>
+    </visual>
+  </link>
 </model>
 </sdf>