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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,96 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="depth_camera" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:macro name="depth_camera" | ||
| params="name parent x:=0.0 | ||
| y:=0.0 | ||
| z:=0.0 | ||
| roll:=0.0 | ||
| pitch:=0.0 | ||
| yaw:=0.0"> | ||
| <!-- param name: Name of the camera --> | ||
| <!-- param parent: Parent link for camera joint --> | ||
| <xacro:property name="camera_size" value="0.02" /> | ||
|
|
||
| <!--create | ||
| link from parent --> | ||
| <joint name="${parent}_to_${name}" type="fixed"> | ||
| <origin xyz="${x} ${y} ${z}" rpy="${roll} ${pitch} ${yaw}" /> | ||
| <parent link="${parent}" /> | ||
| <child link="${name}_link" /> | ||
| </joint> | ||
|
|
||
| <!-- Create camera --> | ||
| <link name="${name}_link"> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry> | ||
| <cylinder length="${camera_size}" radius="${camera_size}" /> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 ${pi/2} 0" /> | ||
| <geometry> | ||
| <cylinder length="${camera_size}" radius="${camera_size}" /> | ||
| </geometry> | ||
| <material name="blue"> | ||
| <color rgba="0 0 .8 1" /> | ||
| </material> | ||
| </visual> | ||
|
|
||
| <inertial> | ||
| <mass value="1e-5" /> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> | ||
| </inertial> | ||
| </link> | ||
|
|
||
| <gazebo reference="${name}_link"> | ||
| <turnGravityOff>true</turnGravityOff> | ||
| <sensor type="depth" name="${name}"> | ||
| <update_rate>30</update_rate> | ||
| <camera> | ||
| <!-- 75x65 degree FOV for the depth sensor --> | ||
| <horizontal_fov>1.518</horizontal_fov> | ||
| <vertical_fov>1.012</vertical_fov> | ||
| <image> | ||
| <width>640</width> | ||
| <height>480</height> | ||
| <format>R8G8B8</format> | ||
| </image> | ||
| <clip> | ||
| <!-- give the color sensor a maximum range of 50m so that the simulation | ||
| renders nicely --> | ||
| <near>0.01</near> | ||
| <far>50.0</far> | ||
| </clip> | ||
| </camera> | ||
| <plugin name="${name}_controller" filename="libgazebo_ros_openni_kinect.so"> | ||
| <robotNamespace>/</robotNamespace> | ||
| <baseline>0.2</baseline> | ||
| <alwaysOn>true</alwaysOn> | ||
| <updateRate>0.0</updateRate> | ||
| <cameraName>${name}</cameraName> | ||
| <imageTopicName>/${name}/color/image_raw</imageTopicName> | ||
| <cameraInfoTopicName>/${name}/color/camera_info</cameraInfoTopicName> | ||
| <depthImageTopicName>/${name}/depth/image_rect_raw</depthImageTopicName> | ||
| <depthImageInfoTopicName>/${name}/depth/camera_info</depthImageInfoTopicName> | ||
| <pointCloudTopicName>/${name}/depth/color/points</pointCloudTopicName> | ||
| <frameName>${name}_link</frameName> | ||
| <pointCloudCutoff>0.105</pointCloudCutoff> | ||
| <pointCloudCutoffMax>8.0</pointCloudCutoffMax> | ||
| <distortionK1>0.00000001</distortionK1> | ||
| <distortionK2>0.00000001</distortionK2> | ||
| <distortionK3>0.00000001</distortionK3> | ||
| <distortionT1>0.00000001</distortionT1> | ||
| <distortionT2>0.00000001</distortionT2> | ||
| <CxPrime>0</CxPrime> | ||
| <Cx>0</Cx> | ||
| <Cy>0</Cy> | ||
| <focalLength>0</focalLength> | ||
| <hackBaseline>0</hackBaseline> | ||
| </plugin> | ||
| </sensor> | ||
| </gazebo> | ||
| </xacro:macro> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <!-- Add camera --> | ||
| <xacro:include filename="$(find wild_visual_navigation_jackal)/urdf/depth_camera.xacro" /> | ||
| <xacro:depth_camera name="depth_camera" | ||
| parent="front_mount" | ||
| x="0.1" | ||
| y="0.0" | ||
| z="0.02" | ||
| pitch="${pi/180 * 20}"/> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| #!/bin/bash | ||
| # This is a workaround to set the JACKAL_URDF_EXTRAS path | ||
| export JACKAL_URDF_EXTRAS="$(rospack find wild_visual_navigation_jackal)/urdf/extras.xacro" | ||
| xacro $(rospack find jackal_description)/urdf/jackal.urdf.xacro |
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