add test camera in scene
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2 changed files with 52 additions and 2 deletions
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@ -9,12 +9,12 @@ To get a local copy up and running follow these simple example steps.
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#### Prerequisites
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#### Prerequisites
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```bash
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```bash
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# install glog
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# install glog
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apt-get install libgoogle-glog-dev
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sudo apt-get install libgoogle-glog-dev
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#install lua
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#install lua
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wget http://www.lua.org/ftp/lua-5.3.1.tar.gz
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wget http://www.lua.org/ftp/lua-5.3.1.tar.gz
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tar zxf lua-5.3.1.tar.gz
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tar zxf lua-5.3.1.tar.gz
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make -C lua-5.3.1 linux && make -C lua-5.3.1 install
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sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install
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```
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```
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### Config
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### Config
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Configuration is done by lua.
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Configuration is done by lua.
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@ -10,6 +10,9 @@
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<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
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<render_engine>ogre2</render_engine>
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</plugin>
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<gravity>0 0 -9.8</gravity>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<atmosphere type='adiabatic'/>
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@ -239,5 +242,52 @@
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<name>pyramid6</name>
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<name>pyramid6</name>
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<pose>-0.9 0 0.6250 0 0 0</pose>
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<pose>-0.9 0 0.6250 0 0 0</pose>
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</include> -->
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</include> -->
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<model name="camera">
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<static>1</static>
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<pose>2 0 1.0 0 0.0 3.14</pose>
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<link name="link">
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<pose>0.05 0.05 0.05 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="camera" type="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>camera</topic>
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</sensor>
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</link>
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</model>
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</world>
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</world>
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</sdf>
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</sdf>
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