From 17e806601d99b73bf9410d86dab3b3219924f1c4 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 7 Oct 2021 00:18:19 +0300
Subject: [PATCH] Tune parameters of external camera

---
 clover_simulation/models/camera/camera.sdf | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/clover_simulation/models/camera/camera.sdf b/clover_simulation/models/camera/camera.sdf
index 8d6b1ccd..8fc05f26 100644
--- a/clover_simulation/models/camera/camera.sdf
+++ b/clover_simulation/models/camera/camera.sdf
@@ -9,8 +9,8 @@
                     <horizontal_fov>2.0944</horizontal_fov>
                     <image>
                         <format>B8G8R8</format>
-                        <width>800</width>
-                        <height>600</height>
+                        <width>640</width>
+                        <height>480</height>
                     </image>
                     <clip>
                         <near>0.02</near>
@@ -18,7 +18,7 @@
                     </clip>
                 </camera>
                 <always_on>1</always_on>
-                <update_rate>20</update_rate>
+                <update_rate>30</update_rate>
                 <visualize>1</visualize>
                 <plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
                     <alwaysOn>1</alwaysOn>