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100 lines
2.9 KiB
100 lines
2.9 KiB
{%- 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="r200">
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<link name="link">
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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 type="depth" name="r200_sensor">
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<always_on>true</always_on>
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<update_rate>3.0</update_rate>
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<visualize>true</visualize>
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<camera name="head">
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<horizontal_fov>1.3962634</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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<depth_camera>
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<output>1</output>
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</depth_camera>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<!-- Noise is sampled independently per pixel on each frame.
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That pixel's noise value is added to each of its color
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channels, which at that point lie in the range [0,1]. -->
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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="r200_controller" filename="libgazebo_ros_openni_kinect.so">
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<baseline>0.2</baseline>
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<alwaysOn>true</alwaysOn>
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<updateRate>1.0</updateRate>
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<cameraName>r200_ir</cameraName>
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<imageTopicName>/r200/depth/image_raw</imageTopicName>
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<cameraInfoTopicName>/r200/depth/camera_info</cameraInfoTopicName>
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<depthImageTopicName>/r200/depth/image_raw</depthImageTopicName>
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<depthImageInfoTopicName>/r200/depth/camera_info</depthImageInfoTopicName>
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<pointCloudTopicName>/r200/depth/points</pointCloudTopicName>
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<frameName>r200</frameName>
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<pointCloudCutoff>0.5</pointCloudCutoff>
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<distortionK1>0.00000001</distortionK1>
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<distortionK2>0.00000001</distortionK2>
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<distortionK3>0.00000001</distortionK3>
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<distortionT1>0.00000001</distortionT1>
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<distortionT2>0.00000001</distortionT2>
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<CxPrime>0</CxPrime>
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<Cx>0</Cx>
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<Cy>0</Cy>
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<focalLength>0</focalLength>
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<hackBaseline>0</hackBaseline>
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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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