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Adding depth camera world to use in test to make depth camera have ri…
…ght timestamp ros-simulation#408- appears to be working (though only looking at horizon) but getting these sdf errors: Error [SDF.cc:789] Missing element description for [pointCloudTopicName] Error [SDF.cc:789] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:789] Missing element description for [pointCloudCutoff]
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,136 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.4"> | ||
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| <world name="default"> | ||
| <include> | ||
| <uri>model://ground_plane</uri> | ||
| </include> | ||
|
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||
| <!-- Global light source --> | ||
| <include> | ||
| <uri>model://sun</uri> | ||
| </include> | ||
|
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| <!-- Focus camera on tall pendulum --> | ||
| <gui fullscreen='0'> | ||
| <camera name='user_camera'> | ||
| <pose>4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190</pose> | ||
| <view_controller>orbit</view_controller> | ||
| </camera> | ||
| </gui> | ||
|
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| <model name="model_1"> | ||
| <static>false</static> | ||
| <pose>0.0 2.0 2.0 0.0 0.0 0.0</pose> | ||
| <link name="link_1"> | ||
| <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> | ||
| <inertial> | ||
| <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> | ||
| <inertia> | ||
| <ixx>1.0</ixx> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyy>1.0</iyy> | ||
| <iyz>0.0</iyz> | ||
| <izz>1.0</izz> | ||
| </inertia> | ||
| <mass>10.0</mass> | ||
| </inertial> | ||
| <visual name="visual_sphere"> | ||
| <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.5</radius> | ||
| </sphere> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0.03 0.5 0.5 1.0</ambient> | ||
| <script>Gazebo/Green</script> | ||
| </material> | ||
| <cast_shadows>true</cast_shadows> | ||
| <laser_retro>100.0</laser_retro> | ||
| </visual> | ||
| <collision name="collision_sphere"> | ||
| <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> | ||
| <max_contacts>250</max_contacts> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.5</radius> | ||
| </sphere> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>0.5</mu> | ||
| <mu2>0.2</mu2> | ||
| <fdir1>1.0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1000000.0</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e15</kp> | ||
| <kd>1e13</kd> | ||
| <max_vel>100.0</max_vel> | ||
| <min_depth>0.0001</min_depth> | ||
| </ode> | ||
| </contact> | ||
| </surface> | ||
| <laser_retro>100.0</laser_retro> | ||
| </collision> | ||
|
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||
| <sensor name="depth_camera" type="depth"> | ||
| <update_rate>0.5</update_rate> | ||
| <camera name="head"> | ||
| <!-- TODO(lucasw) is noise used? | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.007</stddev> | ||
| </noise> | ||
| --> | ||
| <horizontal_fov>1.3962634</horizontal_fov> | ||
| <image> | ||
| <width>640</width> | ||
| <height>480</height> | ||
| <format>R8G8B8</format> | ||
| </image> | ||
| <clip> | ||
| <near>0.02</near> | ||
| <far>300</far> | ||
| </clip> | ||
| </camera> | ||
| <plugin name="camera_controller" filename="libgazebo_ros_depth_camera.so"> | ||
| <alwaysOn>true</alwaysOn> | ||
| <!-- Keep this zero, update_rate will control the frame rate --> | ||
| <updateRate>0.0</updateRate> | ||
| <imageTopicName>image_raw</imageTopicName> | ||
| <depthImageTopicName>depth/image_raw</depthImageTopicName> | ||
| <depthImageTopicCameraInfoName>depth/camera_info</depthImageCameraInfoTopicName> | ||
| <pointCloudTopicName>points</pointCloudTopicName> | ||
| <cameraInfoTopicName>camera_info</cameraInfoTopicName> | ||
| <cameraName>depth_cam</cameraName> | ||
| <frameName>camera_link</frameName> | ||
| <!-- TODO(lucasw) is this used by depth camera at all? --> | ||
| <hackBaseline>0.07</hackBaseline> | ||
| <pointCloudCutoff>0.001</pointCloudCutoff> | ||
| <distortionK1>0.0</distortionK1> | ||
| <distortionK2>0.0</distortionK2> | ||
| <distortionK3>0.0</distortionK3> | ||
| <distortionT1>0.0</distortionT1> | ||
| <distortionT2>0.0</distortionT2> | ||
| </plugin> | ||
| <always_on>true</always_on> | ||
| </sensor> | ||
| </link> | ||
| </model> | ||
|
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||
| </world> | ||
| </sdf> |