48 lines
1.7 KiB
Plaintext
48 lines
1.7 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:property name="camera_length" value="0.01"/>
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<xacro:property name="camera_width" value="0.1"/>
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<xacro:property name="camera_height" value="0.05"/>
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<link name="camera_link">
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<visual>
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<geometry>
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<box size="${camera_length} ${camera_width} ${camera_height}"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="gray" />
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</visual>
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<collision>
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<geometry>
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<box size="${camera_length} ${camera_width} ${camera_height}"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<xacro:box_inertia m="0.1" l="${camera_length}" w="${camera_width}" h="${camera_height}" xyz="0 0 0" rpy="0 0 0"/>
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</link>
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<joint name="base_camera_joint" type="fixed">
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<parent link="base_link"/>
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<child link="camera_link"/>
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<origin xyz="${(base_length + camera_length)/ 2} 0 ${base_height/2}" rpy="0 0 0"/>
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</joint>
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<gazebo reference="camera_link">
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<material>Gazebo/Red</material>
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<sensor name="camera_sensor" type="camera">
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<!-- x y z r p y-->
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<pose>0 0 0 0 0 0</pose>
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<!-- whether you can see projection in gazebo or not-->
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<visualize>true</visualize>
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<!-- update rate in hz-->
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<update_rate>10.0</update_rate>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<!-- camera link -->
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<frame_name>camera_link</frame_name>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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