add rgbd sensor
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db3300ee45
commit
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1 changed files with 72 additions and 3 deletions
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@ -49,13 +49,34 @@
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<line own="bottom" target="bottom"/>
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</anchors>
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</ignition-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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</plugin>
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<plugin filename="ImageDisplay" name="Image Display 3">
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<ignition-gui>
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<title>RGBD: image</title>
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<property key="state" type="string">floating</property>
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<property type="double" key="width">350</property>
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<property type="double" key="height">315</property>
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<property type="double" key="y">320</property>
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</ignition-gui>
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<topic>rgbd_camera/image</topic>
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<topic_picker>false</topic_picker>
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</plugin>
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<plugin filename="ImageDisplay" name="Image Display 3">
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<ignition-gui>
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<title>RGBD: depth</title>
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<property key="state" type="string">floating</property>
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<property type="double" key="width">350</property>
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<property type="double" key="height">315</property>
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<property type="double" key="x">500</property>
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<property type="double" key="y">320</property>
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</ignition-gui>
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<topic>rgbd_camera/depth_image</topic>
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<topic_picker>false</topic_picker>
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</plugin>
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</gui>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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@ -288,6 +309,54 @@
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<topic>camera</topic>
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</sensor>
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</link>
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</model>
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</model>
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<!-- <model name="rgbd_camera">
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<static>1</static>
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<pose>0 0.3 0.7 0 0.0 1.57</pose>
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<link name="link">
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<pose>0.0 0.0 0.0 0 0 0</pose>
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.000166667</ixx>
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<iyy>0.000166667</iyy>
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<izz>0.000166667</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="rgbd_camera" type="rgbd_camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</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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<topic>rgbd_camera</topic>
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<enable_metrics>true</enable_metrics>
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</sensor>
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</link>
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</model> -->
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</world>
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</sdf>
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