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UGV Camera and World Gen Boxes

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SirBlobby
2026-02-23 16:00:12 -05:00
parent 9eea35ed1d
commit e17f3e67dd
15 changed files with 426 additions and 6 deletions
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42
models/custom_ugv/model.sdf
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@@ -115,11 +115,53 @@
</visual>
</link>
<!-- Forward-facing camera for obstacle detection -->
<link name="front_camera_link">
<pose>0.42 0 0.22 0 0 0</pose>
<inertial>
<mass>0.05</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
</inertia>
</inertial>
<visual name="camera_visual">
<geometry><box><size>0.03 0.03 0.03</size></box></geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.1 0.1 0.1 1</diffuse>
</material>
</visual>
<sensor name="front_camera" type="camera">
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>1</visualize>
<topic>/ugv/camera/forward</topic>
<camera>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>50</far>
</clip>
</camera>
</sensor>
</link>
<joint name="aruco_joint" type="fixed">
<parent>base_link</parent>
<child>aruco_tag</child>
</joint>
<joint name="front_camera_joint" type="fixed">
<parent>base_link</parent>
<child>front_camera_link</child>
</joint>
<joint name="front_left_wheel_joint" type="revolute">
<parent>base_link</parent>
<child>front_left_wheel</child>