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Improved Gazebo

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-29 00:18:41 +03:00
parent 2ec94c1953
commit f547fd5745
2 changed files with 6 additions and 4 deletions
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8
nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
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@ -69,7 +69,7 @@
<!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE --> <!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE -->
<gazebo reference="LeftCamera"> <gazebo reference="LeftCamera">
<sensor type="camera" name="LeftCamera"> <sensor type="camera" name="LeftCamera">
<update_rate>30.0</update_rate> <update_rate>10.0</update_rate>
<camera name="left_camera"> <camera name="left_camera">
<horizontal_fov>1.06290551</horizontal_fov> <horizontal_fov>1.06290551</horizontal_fov>
<image> <image>
@ -89,7 +89,7 @@
</camera> </camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so"> <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn> <alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate> <updateRate>10.0</updateRate>
<cameraName>nao_dcm/CameraLeft</cameraName> <cameraName>nao_dcm/CameraLeft</cameraName>
<imageTopicName>image_raw</imageTopicName> <imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName>
@ -106,7 +106,7 @@
<gazebo reference="RightCamera"> <gazebo reference="RightCamera">
<sensor type="camera" name="RightCamera"> <sensor type="camera" name="RightCamera">
<update_rate>30.0</update_rate> <update_rate>10.0</update_rate>
<camera name="right_camera"> <camera name="right_camera">
<horizontal_fov>1.06290551</horizontal_fov> <horizontal_fov>1.06290551</horizontal_fov>
<image> <image>
@ -126,7 +126,7 @@
</camera> </camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so"> <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn> <alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate> <updateRate>10.0</updateRate>
<cameraName>nao_dcm/CameraRight</cameraName> <cameraName>nao_dcm/CameraRight</cameraName>
<imageTopicName>image_raw</imageTopicName> <imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName>

2
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
View File

@ -13,6 +13,8 @@
<gaussianNoise>2.89e-08</gaussianNoise> <gaussianNoise>2.89e-08</gaussianNoise>
<xyzOffsets>0 0 0</xyzOffsets> <xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets> <rpyOffsets>0 0 0</rpyOffsets>
<updateRate>30.0</updateRate>
<alwaysOn>true</alwaysOn>
</plugin> </plugin>
</gazebo> </gazebo>
<!-- END OF GAZEBO ROS CONTROL PLUGIN --> <!-- END OF GAZEBO ROS CONTROL PLUGIN -->