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add test camera in scene

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This commit is contained in:
Ilya Uraev 2023-04-18 22:44:16 +03:00
parent d61cd85b3c
commit ae1fb714a5
2 changed files with 52 additions and 2 deletions
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4
env_manager/README.md
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@ -9,12 +9,12 @@ To get a local copy up and running follow these simple example steps.
#### Prerequisites
```bash
# install glog
apt-get install libgoogle-glog-dev
sudo apt-get install libgoogle-glog-dev
#install lua
wget http://www.lua.org/ftp/lua-5.3.1.tar.gz
tar zxf lua-5.3.1.tar.gz
make -C lua-5.3.1 linux && make -C lua-5.3.1 install
sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install
```
### Config
Configuration is done by lua.

50
rbs_simulation/worlds/mir.sdf
View file

@ -10,6 +10,9 @@
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
<render_engine>ogre2</render_engine>
</plugin>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
@ -239,5 +242,52 @@
<name>pyramid6</name>
<pose>-0.9 0 0.6250 0 0 0</pose>
</include> -->
<model name="camera">
<static>1</static>
<pose>2 0 1.0 0 0.0 3.14</pose>
<link name="link">
<pose>0.05 0.05 0.05 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="camera" type="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>camera</topic>
</sensor>
</link>
</model>
</world>
</sdf>