From badaefd34e48fb906018a61e26f0ed3068d31484 Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Fri, 22 Oct 2021 18:17:55 +0400
Subject: [PATCH] :heavy_plus_sign: add realsens for ignition sim

---
 .../world/rasms.world.sdf                     | 67 ++++++++++++++++++-
 1 file changed, 65 insertions(+), 2 deletions(-)
 rename {rasms_description => rasms_ign}/world/rasms.world.sdf (57%)

diff --git a/rasms_description/world/rasms.world.sdf b/rasms_ign/world/rasms.world.sdf
similarity index 57%
rename from rasms_description/world/rasms.world.sdf
rename to rasms_ign/world/rasms.world.sdf
index e69e6ff..f991b0a 100644
--- a/rasms_description/world/rasms.world.sdf
+++ b/rasms_ign/world/rasms.world.sdf
@@ -21,7 +21,12 @@
       filename="ignition-gazebo-contact-system"
       name="ignition::gazebo::systems::Contact">
     </plugin>
-    <gui>
+    <plugin
+      filename="ignition-gazebo-sensors-system"
+      name="ignition::gazebo::systems::Sensors">
+      <render_enfine>ogre2</render_enfine>
+    </plugin>
+    <!--gui>
       
       <plugin filename="GzScene3D" name="3D View">
         <ignition-gui>
@@ -35,7 +40,7 @@
         <background_color>0.4 0.6 1.0</background_color>
         <camera_pose>8.3 7 7.8 0 0.5 -2.4</camera_pose>
       </plugin>
-    </gui>
+    </gui-->
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
@@ -78,8 +83,66 @@
       </link>
     </model>
     <include>
+      <!--Нужно залить на сервер и поменять на ссылку -->
       <uri>roboasm_sgonov_world</uri>
       <pose>0 0 0.07 0 0 0</pose>
     </include>
+    <include>
+      <uri>realsense_camera</uri>
+      <pose>1 0 1 0 0.97 3.14159</pose>
+      <static>true</static>
+    </include>
+
+    <!--model name="3d_camera">
+      <static>true</static>
+      <link name="kinect_sensor">
+        <pose>1 0 1 0 1 3.14159</pose>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name="camera" type="rgbd_camera">
+          <topic>rgbd_camera</topic>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <camera name="rgbd_sens">
+            <image>
+              <width>212</width>
+              <heigth>120</heigth>
+            </image>
+            <horizontal_fov>1.567821</horizontal_fov>
+            <vertical_fov>1.022238</vertical_fov>
+            <clip>
+              <near>0.01</near>
+              <far>1000.0</far>
+            </clip>
+            <depth_camera>
+              <clip>
+                <near>0.01</near>
+                <far>10.0</far>
+              </clip>
+            </depth_camera>
+            <noise>
+              <type>gaussian</type>
+              <mean>0</mean>
+              <stddev>0</stddev>
+            </noise>
+            <visibility_mask>2</visibility_mask>
+          </camera>
+
+        </sensor>
+      </link>
+    </model-->
+
   </world>
 </sdf>