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Adding depth camera world to use in test to make depth camera have ri…
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…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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@lucasw
lucasw committed Mar 29, 2016
1 parent 3e93473 commit 4a3557e
Showing 1 changed file with 136 additions and 0 deletions.
136 changes: 136 additions & 0 deletions gazebo_plugins/test/camera/depth_camera.world
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<?xml version="1.0" ?>
<sdf version="1.4">

<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>

<!-- Global light source -->
<include>
<uri>model://sun</uri>
</include>

<!-- 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>

<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>

<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>

</world>
</sdf>

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