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83 lines
2.4 KiB
83 lines
2.4 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='OakD-Lite'>
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<pose>0 0 0 0 0 0</pose>
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<self_collide>false</self_collide>
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<static>false</static>
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<link name="camera_link">
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<inertial>
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<pose>0.00358 -0.03 .014 0 0 0</pose>
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<mass>0.061</mass>
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<inertia>
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<ixx>0.0000460804</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0000055421</iyy>
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<iyz>0</iyz>
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<izz>0.0000436519</izz>
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</inertia>
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</inertial>
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<visual name="OakD-Lite/visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://OakD-Lite/meshes/OakDLite.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="OakD-Lite/collision">
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<pose>0.00358 -0.03 .014 0 0 0</pose>
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<geometry>
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<box>
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<size>0.0175 0.091 0.028</size>
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</box>
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</geometry>
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</collision>
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<sensor name="IMX214" type="camera">
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<gz_frame_id>camera_link</gz_frame_id>
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<pose>0.01233 -0.03 .01878 0 0 0</pose>
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<camera>
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<horizontal_fov>1.204</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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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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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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<sensor name="StereoOV7251" type="depth_camera">
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<gz_frame_id>camera_link</gz_frame_id>
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<pose>0.01233 -0.03 .01878 0 0 0</pose>
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<camera>
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<horizontal_fov>1.274</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>R_FLOAT32</format>
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</image>
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<clip>
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<near>0.2</near>
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<far>19.1</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>depth_camera</topic>
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</sensor>
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<gravity>true</gravity>
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<velocity_decay />
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</link>
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<!-- <plugin filename="ignition-gazebo-sensors-system"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin> -->
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</model>
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</sdf>
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