Fixed camera frames/Gazebo
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Konstantinos Chatzilygeroudis
parent
8f3766d980
commit
f373f21f45
@ -1,16 +1,103 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- CAMERAS -->
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<joint name="TopCamera" type="fixed">
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<joint name="gaze-top-camera" type="fixed">
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<parent link="gaze"/>
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<child link="CameraTop"/>
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<child link="TopCamera"/>
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<origin xyz="0.05871 0 0.06364" rpy="0 0.0209 0"/>
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</joint>
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<link name="TopCamera"/>
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<joint name="fixed-top-camera" type="fixed">
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<parent link="TopCamera"/>
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<child link="CameraTop"/>
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<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
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</joint>
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<link name="CameraTop"/>
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<joint name="BottomCamera" type="fixed">
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<joint name="gaze-bottom-camera" type="fixed">
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<parent link="gaze"/>
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<child link="CameraBottom"/>
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<child link="BottomCamera"/>
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<origin xyz="0.05071 0 0.01774" rpy="0 0.6929 0"/>
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</joint>
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<link name="BottomCamera"/>
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<joint name="fixed-bottom-camera" type="fixed">
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<parent link="BottomCamera"/>
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<child link="CameraBottom"/>
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<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
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</joint>
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<link name="CameraBottom"/>
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<!-- GAZEBO -->
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<gazebo reference="TopCamera">
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<sensor type="camera" name="CameraTop">
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<update_rate>30.0</update_rate>
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<camera name="head">
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<horizontal_fov>1.06290551</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>
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<near>0.3</near>
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<far>500</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>nao_dcm/CameraTop</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>CameraTop</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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<gazebo reference="BottomCamera">
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<sensor type="camera" name="CameraBottom">
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<update_rate>30.0</update_rate>
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<camera name="head">
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<horizontal_fov>0.834267382</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>
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<near>0.3</near>
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<far>500</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>nao_dcm/CameraBottom</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>CameraBottom</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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@ -52,6 +52,12 @@
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<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
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</inertial>
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</link>
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<joint name="fixed-left-camera" type="fixed">
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<parent link="LeftCamera"/>
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<child link="CameraLeft"/>
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<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
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</joint>
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<link name="CameraLeft"/>
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<joint name="helmet-right-camera" type="fixed">
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<parent link="helmet"/>
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<child link="RightCamera"/>
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@ -65,6 +71,12 @@
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<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
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</inertial>
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</link>
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<joint name="fixed-right-camera" type="fixed">
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<parent link="RightCamera"/>
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<child link="CameraRight"/>
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<origin xyz="0 0 0" rpy="-${PI_2} 0 -${PI_2}"/>
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</joint>
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<link name="CameraRight"/>
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<!-- GAZEBO RELATED PARAMETERS -->
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<!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE -->
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<gazebo reference="LeftCamera">
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@ -93,7 +105,7 @@
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<cameraName>nao_dcm/CameraLeft</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>LeftCamera</frameName>
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<frameName>CameraLeft</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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@ -130,7 +142,7 @@
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<cameraName>nao_dcm/CameraRight</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>RightCamera</frameName>
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<frameName>CameraRight</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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@ -379,81 +379,5 @@
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<minDepth>0.003</minDepth>
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</gazebo>
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<!-- END OF GAZEBO MATERIALS -->
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<!-- Used for fixing robot to Gazebo 'base_link' -->
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<!-- <link name="world"/><joint name="fixed" type="fixed"><parent link="world"/><child link="Torso"/><origin xyz="0 0 0.7" rpy="0 0 0" /></joint>-->
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<!-- cameras -->
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<gazebo reference="CameraTop">
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<sensor type="camera" name="CameraTop">
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<update_rate>30.0</update_rate>
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<camera name="head">
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<horizontal_fov>1.06290551</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>
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<near>0.3</near>
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<far>500</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>nao_dcm/CameraTop</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>CameraTop</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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<gazebo reference="CameraBottom">
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<sensor type="camera" name="CameraBottom">
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<update_rate>30.0</update_rate>
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<camera name="head">
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<horizontal_fov>0.834267382</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>
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<near>0.3</near>
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<far>500</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>nao_dcm/CameraBottom</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>CameraBottom</frameName>
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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