HeeroYui-deprecated/nao_dcm
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Added camera depth controller for gazebo. Removed uneeded stl file.

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Konstantinos Chatzilygeroudis 2014-06-12 13:53:50 +03:00
parent cd5c50599c
commit 10ce33c06c
2 changed files with 44 additions and 0 deletions
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nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.stl
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44
nao_dcm_common/nao_dcm_description/urdf/modules/helmet_xtion.xacro
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@ -25,4 +25,48 @@
<link name="helmet-xtion">
<xacro:visuals_collisions_helmet_xtion/>
</link>
<joint name="helmet-to-xtion" type="fixed">
<parent link="helmet-xtion"/>
<child link="xtion"/>
<origin xyz="0 0 0.0075" rpy="-${PI_2} 0 -${PI_2}"/>
</joint>
<link name="xtion"/>
<!-- GAZEBO SPECIFIC FOR XTION -->
<gazebo reference="helmet-xtion">
<sensor type="depth" name="xtion">
<always_on>true</always_on>
<update_rate>30.0</update_rate>
<camera>
<horizontal_fov>${60.0*PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin name="xtion_camera_controller" filename="libgazebo_ros_openni_kinect.so">
<cameraName>xtion</cameraName>
<alwaysOn>true</alwaysOn>
<updateRate>30</updateRate>
<imageTopicName>xtion/rgb/image_raw</imageTopicName>
<depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>
<pointCloudTopicName>xtion/depth/points</pointCloudTopicName>
<cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>
<frameName>xtion</frameName>
<baseline>0.1</baseline>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
<distortion_t1>0.0</distortion_t1>
<distortion_t2>0.0</distortion_t2>
<pointCloudCutoff>0.4</pointCloudCutoff>
</plugin>
</sensor>
</gazebo>
</robot>