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➕ add realsens for ignition sim

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This commit is contained in:
Ilya Uraev 2021-10-22 18:17:55 +04:00
parent 9ad9e6c031
commit badaefd34e
1 changed files with 65 additions and 2 deletions
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67
rasms_description/world/rasms.world.sdf → rasms_ign/world/rasms.world.sdf
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@ -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>