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Add external camera model

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This commit is contained in:
Oleg Kalachev
2021-10-06 21:17:21 +03:00
parent b2ec48f0f3
commit 64b083b242
2 changed files with 46 additions and 0 deletions
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33
clover_simulation/models/camera/camera.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.5">
<model name="camera">
<static>true</static>
<link name='camera_link'>
<pose>0 0 0 0 0 0</pose>
<sensor name='camera' type='camera'>
<camera>
<horizontal_fov>2.0944</horizontal_fov>
<image>
<format>B8G8R8</format>
<width>800</width>
<height>600</height>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>1</visualize>
<plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
<alwaysOn>1</alwaysOn>
<imageTopicName>image_raw</imageTopicName>
<cameraTopicName>camera_info</cameraTopicName>
<cameraName>camera</cameraName>
<frameName>/camera</frameName>
</plugin>
</sensor>
</link>
</model>
</sdf>

13
clover_simulation/models/camera/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Camera</name>
<version>1.0</version>
<sdf version="1.5">camera.sdf</sdf>
<author>
<name>Oleg Kalachev</name>
<email>okalachev@gmail.com</email>
</author>
<description>
External camera
</description>
</model>