87 lines
3.5 KiB
Plaintext
87 lines
3.5 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="depthCamera" params="camID name *origin">
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<joint name="camera_joint_${name}" type="fixed">
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<xacro:insert_block name="origin"/>
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<parent link="trunk"/>
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<child link="camera_${name}"/>
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</joint>
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<link name="camera_${name}">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find go1_description)/meshes/depthCamera.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="1e-5" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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</inertial>
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</link>
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<joint name="camera_optical_joint_${name}" type="fixed">
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
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<parent link="camera_${name}"/>
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<child link="camera_optical_${name}"/>
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</joint>
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<link name="camera_optical_${name}">
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</link>
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<gazebo reference="camera_${name}">
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<!-- <material>Gazebo/Black</material> -->
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<sensor name="camera_${name}_camera" type="depth">
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<update_rate>16</update_rate>
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<camera>
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<horizontal_fov>2.094</horizontal_fov>
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<image>
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<width>928</width>
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<height>800</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>5</far>
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</clip>
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</camera>
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<plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">
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<baseline>0.025</baseline>
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>camera_${name}_ir</cameraName>
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<imageTopicName>/camera_${name}/color/image_raw</imageTopicName>
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<cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>
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<depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>
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<depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>
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<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
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<pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>
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<frameName>camera_optical_${name}</frameName>
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<pointCloudCutoff>0.1</pointCloudCutoff>
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<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
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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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<CxPrime>0</CxPrime>
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<Cx>0.0045</Cx>
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<Cy>0.0039</Cy>
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<focalLength>0</focalLength>
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<hackBaseline>0</hackBaseline>
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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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