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Model.sdf

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May 2nd, 2019
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  1. <?xml version="1.0" ?>
  2. <sdf version="1.5">
  3.   <model name="DepthCam">
  4.     <pose>0 0 0.036 0 0 0</pose>
  5.     <link name="link">
  6.       <inertial>
  7.         <mass>0.1</mass>
  8.       </inertial>
  9.       <collision name="collision">
  10.         <geometry>
  11.           <box>
  12.             <size>0.073000 0.276000 0.072000</size>
  13.           </box>
  14.         </geometry>
  15.       </collision>
  16.       <visual name="visual">
  17.         <geometry>
  18.           <mesh>
  19.             <uri>model://kinect/meshes/kinect.dae</uri>
  20.           </mesh>
  21.         </geometry>
  22.       </visual>
  23.       <sensor name="camera" type="depth">
  24.         <update_rate>20</update_rate>
  25.         <camera>
  26.           <horizontal_fov>1.047198</horizontal_fov>
  27.           <image>
  28.             <width>640</width>
  29.             <height>480</height>
  30.             <format>R8G8B8</format>
  31.           </image>
  32.           <clip>
  33.             <near>0.05</near>
  34.             <far>3</far>
  35.           </clip>
  36.         </camera>
  37.           <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
  38.           <baseline>0.2</baseline>
  39.           <alwaysOn>true</alwaysOn>
  40.           <!-- Keep this zero, update_rate in the parent <sensor> tag
  41.            will control the frame rate. -->
  42.           <updateRate>0.0</updateRate>
  43.           <cameraName>camera_ir</cameraName>parsebin
  44.           <imageTopicName>/camera/depth/image_raw</imageTopicName>parsebin
  45.           <cameraInfoTopicName>/camera/depth/camera_info</cameraInfoToparsebinpicName>
  46.           <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
  47.           <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
  48.           <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
  49.           <frameName>camera_link</frameName>
  50.           <pointCloudCutoff>0.05</pointCloudCutoff>
  51.           <distortionK1>0</distortionK1>
  52.           <distortionK2>0</distortionK2>
  53.           <distortionK3>0</distortionK3>
  54.           <distortionT1>0</distortionT1>
  55.           <distortionT2>0</distortionT2>
  56.           <CxPrime>0</CxPrime>
  57.           <Cx>0</Cx>
  58.           <Cy>0</Cy>
  59.           <focalLength>0</focalLength>
  60.           <hackBaseline>0</hackBaseline>
  61.         </plugin>
  62.       </sensor>
  63.     </link>
  64.   </model>
  65. </sdf>
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