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118 lines
3.4 KiB
118 lines
3.4 KiB
{%- set rad2deg = 57.2957795131 -%}
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{%- set deg2rad = 0.01745329251 -%}
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{%- set m = 0.050 -%}
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{%- set l = 0.005 -%}
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{%- set w = 0.030 -%}
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{%- set h = 0.010 -%}
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{%- set ixx = m/12*(w**2 + h**2) -%}
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{%- set iyy = m/12*(l**2 + h**2) -%}
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{%- set izz = m/12*(l**2 + w**2) -%}
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{%- macro box(l, w, h) -%}
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<geometry>
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<box>
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<size>{{l}} {{w}} {{h}}</size>
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</box>
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</geometry>
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{%- endmacro -%}
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="px4flow">
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<link name="link">
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<pose>0 0 0 {{ -90*deg2rad }} {{ 90*deg2rad }} 0</pose>
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<inertial>
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<mass>{{m}}</mass>
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<inertia>
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<ixx>{{ixx}}</ixx>
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<iyy>{{iyy}}</iyy>
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<izz>{{izz}}</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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{{ box(l, w, h)|indent(8) }}
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</visual>
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<collision name="collision">
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{{ box(l, w, h)|indent(8) }}
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</collision>
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<sensor name="px4flow" type="imu">
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<pose>0 0 0 0 -{{ 90*deg2rad }} {{ 180*deg2rad }}</pose>
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<always_on>1</always_on>
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<update_rate>200</update_rate>
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</sensor>
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<!-- Sonar: HRLV EZ4-->
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<!--<sensor name="sonar" type="sonar">-->
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<!--<pose>0 0 0 0 {{ -90*deg2rad }} 0</pose>-->
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<!--<sonar>-->
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<!--<min>0</min>-->
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<!--<max>5.00</max>-->
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<!--<radius>0.6</radius>-->
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<!--</sonar>-->
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<!--<always_on>1</always_on>-->
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<!--<update_rate>10</update_rate>-->
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<!--<visualize>false</visualize>-->
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<!--</sensor>-->
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<!--752x480 MT9V034 image sensor, only 64x64 pixels used-->
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<sensor name="px4flow" type="camera">
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<always_on>true</always_on>
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<update_rate>100</update_rate>
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<visualize>true</visualize>
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<topic>/px4flow</topic>
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<camera>
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<horizontal_fov>0.25</horizontal_fov>
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<lens>
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<type>gnomonical</type>
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<scale_to_hfov>false</scale_to_hfov>
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</lens>
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<image>
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<width>64</width>
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<height>64</height>
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<format>L8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</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>0.001</stddev>
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</noise>
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</camera>
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<plugin name="opticalflow_plugin" filename="libgazebo_opticalflow_plugin.so">
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<robotNamespace></robotNamespace>
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<outputRate>20</outputRate>
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<hasGyro>true</hasGyro>
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<gyroTopic>/px4flow/imu</gyroTopic>
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</plugin>
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<!--<plugin name="camera_controller" filename="libgazebo_ros_camera.so">-->
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<!--<robotNamespace></robotNamespace>-->
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<!--<cameraName>flow_camera</cameraName>-->
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<!--<imageTopicName>image_raw</imageTopicName>-->
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<!--<cameraInfoTopicName>camera_info</cameraInfoTopicName>-->
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<!--<frameName>link</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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</link>
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</model>
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</sdf>
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<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->
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{# vim: set et ft=jinja fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : #}
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