From 64b083b242467ee242da145d1822f5a8a1ba44c1 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 6 Oct 2021 21:17:21 +0300
Subject: [PATCH] Add external camera model

---
 clover_simulation/models/camera/camera.sdf   | 33 ++++++++++++++++++++
 clover_simulation/models/camera/model.config | 13 ++++++++
 2 files changed, 46 insertions(+)
 create mode 100644 clover_simulation/models/camera/camera.sdf
 create mode 100644 clover_simulation/models/camera/model.config

diff --git a/clover_simulation/models/camera/camera.sdf b/clover_simulation/models/camera/camera.sdf
new file mode 100644
index 00000000..8d6b1ccd
--- /dev/null
+++ b/clover_simulation/models/camera/camera.sdf
@@ -0,0 +1,33 @@
+<?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>
diff --git a/clover_simulation/models/camera/model.config b/clover_simulation/models/camera/model.config
new file mode 100644
index 00000000..6ab6ba6b
--- /dev/null
+++ b/clover_simulation/models/camera/model.config
@@ -0,0 +1,13 @@
+<?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>