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34 lines
1.2 KiB
XML
34 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.5">
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<model name="camera">
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<static>true</static>
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<link name='camera_link'>
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<pose>0 0 0 0 0 0</pose>
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<sensor name='camera' type='camera'>
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<camera>
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<horizontal_fov>1.8</horizontal_fov>
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<image>
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<format>B8G8R8</format>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>1</visualize>
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<plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
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<alwaysOn>1</alwaysOn>
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<imageTopicName>image_raw</imageTopicName>
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<cameraTopicName>camera_info</cameraTopicName>
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<cameraName>camera</cameraName>
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<frameName>/camera</frameName>
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</plugin>
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</sensor>
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</link>
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</model>
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</sdf>
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