From 825dd26bb5b6583e8cc465efa3531fcd49c49411 Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Mon, 17 Jul 2023 16:43:38 +0300
Subject: [PATCH] add rgbd sensor

---
 rbs_simulation/worlds/mir.sdf | 75 +++++++++++++++++++++++++++++++++--
 1 file changed, 72 insertions(+), 3 deletions(-)

diff --git a/rbs_simulation/worlds/mir.sdf b/rbs_simulation/worlds/mir.sdf
index 6adc35d..d658131 100644
--- a/rbs_simulation/worlds/mir.sdf
+++ b/rbs_simulation/worlds/mir.sdf
@@ -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>