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add rgbd sensor

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This commit is contained in:
Ilya Uraev 2023-07-17 16:43:38 +03:00
parent db3300ee45
commit 825dd26bb5
1 changed files with 72 additions and 3 deletions
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75
rbs_simulation/worlds/mir.sdf
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@ -49,13 +49,34 @@
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<ignition-gui>
<title>RGBD: image</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="y">320</property>
</ignition-gui>
<topic>rgbd_camera/image</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<ignition-gui>
<title>RGBD: depth</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
<property type="double" key="y">320</property>
</ignition-gui>
<topic>rgbd_camera/depth_image</topic>
<topic_picker>false</topic_picker>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
@ -288,6 +309,54 @@
<topic>camera</topic>
</sensor>
</link>
</model>
</model>
<!-- <model name="rgbd_camera">
<static>1</static>
<pose>0 0.3 0.7 0 0.0 1.57</pose>
<link name="link">
<pose>0.0 0.0 0.0 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="rgbd_camera" type="rgbd_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>rgbd_camera</topic>
<enable_metrics>true</enable_metrics>
</sensor>
</link>
</model> -->
</world>
</sdf>