89 lines
3.0 KiB
XML
89 lines
3.0 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.6">
|
|
<model name="iris_with_sensors">
|
|
<include>
|
|
<uri>model://iris</uri>
|
|
</include>
|
|
|
|
<link name="optical_flow_link">
|
|
<pose>0 0 -0.05 0 1.5708 0</pose>
|
|
<inertial>
|
|
<mass>0.01</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="visual">
|
|
<geometry><cylinder><radius>0.01</radius><length>0.02</length></cylinder></geometry>
|
|
<material><ambient>0.2 0.2 0.2 1</ambient></material>
|
|
</visual>
|
|
<sensor name="optical_flow_camera" type="camera">
|
|
<camera>
|
|
<horizontal_fov>1.0</horizontal_fov>
|
|
<image>
|
|
<width>160</width>
|
|
<height>120</height>
|
|
<format>R8G8B8</format>
|
|
</image>
|
|
<clip><near>0.1</near><far>20</far></clip>
|
|
</camera>
|
|
<always_on>1</always_on>
|
|
<update_rate>60</update_rate>
|
|
<plugin name="optical_flow_plugin" filename="libgazebo_ros_camera.so">
|
|
<ros>
|
|
<namespace>/uav</namespace>
|
|
<remapping>image_raw:=optical_flow/image_raw</remapping>
|
|
</ros>
|
|
<camera_name>optical_flow</camera_name>
|
|
<frame_name>optical_flow_link</frame_name>
|
|
</plugin>
|
|
</sensor>
|
|
</link>
|
|
|
|
<joint name="optical_flow_joint" type="fixed">
|
|
<parent>iris::base_link</parent>
|
|
<child>optical_flow_link</child>
|
|
</joint>
|
|
|
|
<link name="imu_link">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.005</mass>
|
|
<inertia>
|
|
<ixx>0.000001</ixx><ixy>0</ixy><ixz>0</ixz>
|
|
<iyy>0.000001</iyy><iyz>0</iyz><izz>0.000001</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<sensor name="imu_sensor" type="imu">
|
|
<imu>
|
|
<angular_velocity>
|
|
<x><noise type="gaussian"><mean>0</mean><stddev>0.0002</stddev></noise></x>
|
|
<y><noise type="gaussian"><mean>0</mean><stddev>0.0002</stddev></noise></y>
|
|
<z><noise type="gaussian"><mean>0</mean><stddev>0.0002</stddev></noise></z>
|
|
</angular_velocity>
|
|
<linear_acceleration>
|
|
<x><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></x>
|
|
<y><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></y>
|
|
<z><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></z>
|
|
</linear_acceleration>
|
|
</imu>
|
|
<always_on>1</always_on>
|
|
<update_rate>200</update_rate>
|
|
<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
|
|
<ros>
|
|
<namespace>/uav</namespace>
|
|
<remapping>~/out:=imu/data</remapping>
|
|
</ros>
|
|
<frame_name>imu_link</frame_name>
|
|
</plugin>
|
|
</sensor>
|
|
</link>
|
|
|
|
<joint name="imu_joint" type="fixed">
|
|
<parent>iris::base_link</parent>
|
|
<child>imu_link</child>
|
|
</joint>
|
|
</model>
|
|
</sdf>
|