129 lines
4.2 KiB
XML
129 lines
4.2 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="iris_with_camera">
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<include>
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<uri>model://iris</uri>
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</include>
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<link name="forward_camera_link">
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<pose>0.1 0 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
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<material><ambient>0 0 0 1</ambient></material>
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</visual>
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<sensor name="forward_camera" type="camera">
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<camera>
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<horizontal_fov>1.57</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip><near>0.1</near><far>100</far></clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<ros>
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<namespace>/uav</namespace>
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<remapping>image_raw:=camera/forward/image_raw</remapping>
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<remapping>camera_info:=camera/forward/camera_info</remapping>
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</ros>
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<camera_name>forward_camera</camera_name>
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<frame_name>forward_camera_link</frame_name>
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</plugin>
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</sensor>
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</link>
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<joint name="forward_camera_joint" type="fixed">
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<parent>iris::base_link</parent>
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<child>forward_camera_link</child>
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</joint>
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<link name="downward_camera_link">
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<pose>0 0 -0.05 0 1.5708 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
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<material><ambient>0.3 0.3 0.3 1</ambient></material>
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</visual>
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<sensor name="downward_camera" type="camera">
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<camera>
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<horizontal_fov>1.2</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</height>
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<format>R8G8B8</format>
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</image>
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<clip><near>0.1</near><far>50</far></clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>false</visualize>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<ros>
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<namespace>/uav</namespace>
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<remapping>image_raw:=camera/downward/image_raw</remapping>
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<remapping>camera_info:=camera/downward/camera_info</remapping>
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</ros>
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<camera_name>downward_camera</camera_name>
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<frame_name>downward_camera_link</frame_name>
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</plugin>
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</sensor>
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</link>
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<joint name="downward_camera_joint" type="fixed">
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<parent>iris::base_link</parent>
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<child>downward_camera_link</child>
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</joint>
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<link name="rangefinder_link">
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<pose>0 0 -0.06 0 1.5708 0</pose>
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<inertial>
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<mass>0.005</mass>
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<inertia>
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<ixx>0.000001</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.000001</iyy><iyz>0</iyz><izz>0.000001</izz>
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</inertia>
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</inertial>
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<sensor name="rangefinder" type="ray">
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<ray>
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<scan>
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<horizontal><samples>1</samples><resolution>1</resolution><min_angle>0</min_angle><max_angle>0</max_angle></horizontal>
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</scan>
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<range><min>0.1</min><max>10</max><resolution>0.01</resolution></range>
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</ray>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<plugin name="range_plugin" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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<namespace>/uav</namespace>
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<remapping>~/out:=rangefinder/range</remapping>
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</ros>
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<output_type>sensor_msgs/Range</output_type>
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<frame_name>rangefinder_link</frame_name>
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</plugin>
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</sensor>
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</link>
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<joint name="rangefinder_joint" type="fixed">
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<parent>iris::base_link</parent>
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<child>rangefinder_link</child>
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</joint>
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</model>
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</sdf>
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