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https://github.com/wassname/kair_algorithms_draft.git
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Geonhee
055d97661e
* Create urdf file * add the urdf file for implementing camera * create launch file for executing gazebo including cam * remove the dummy * remove dummy * change directory
78 lines
2.8 KiB
XML
78 lines
2.8 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="camera">
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<xacro:property name="pi" value="3.1415926535897931"/>
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<xacro:macro name="camera_sensor" params="xyz rpy parent">
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<joint name="camera_sensor_joint" type="fixed">
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<axis xyz="0 1 0" />
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<origin xyz="${xyz}" rpy="${rpy}"/>
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<parent link="${parent}"/>
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<child link="camera_link"/>
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</joint>
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<link name="camera_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.02 0.08 0.05"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.02 0.08 0.05"/>
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</geometry>
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<material name="iRobot/Green"/>
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</visual>
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<inertial>
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<mass value="0.0001" />
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<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
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<inertia ixx="0.0000001" ixy="0" ixz="0" iyy="0.0000001" iyz="0" izz="0.0000001" />
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</inertial>
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</link>
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<gazebo reference="camera_link">
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<sensor type="camera" name="camera">
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<update_rate>30.0</update_rate>
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<camera name="head">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>800</width>
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<height>600</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>camera</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>camera_link</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>
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