Added cone simulation and bbox capturing

description/bbox_camera.xacro

@@ -2,15 +2,15 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
 
     <joint name="camera_joint" type="fixed">
-        <parent link="laser_frame"/>
+        <parent link="chassis"/>
         <child link="camera_link"/>
-        <origin xyz="0 0.05 -0.03" rpy="0 0 ${-20*deg_to_rad}"/>
+        <origin xyz="-0.996 0.0696 1.04" rpy="${11.8*deg_to_rad} ${20.2*deg_to_rad} ${22.5*deg_to_rad}"/>
     </joint>
 
     <link name="camera_link">
         <visual>
             <geometry>
-                <box size="0.025 0.09 0.025"/>
+                <box size="0.03 0.03 0.03"/>
             </geometry>
             <material name="black"/>
         </visual>
@@ -48,6 +48,26 @@
           <update_rate>20</update_rate>
           <visualize>false</visualize>
         </sensor>
+        <sensor name="boundingbox_camera" type="boundingbox_camera">
+          <ignition_frame_id>camera_link_optical</ignition_frame_id>
+          <topic>box</topic>
+          <box_type>2d</box_type>
+          <camera>
+            <horizontal_fov>${84.7*deg_to_rad}</horizontal_fov>
+            <vertical_fov>${66.1*deg_to_rad}</vertical_fov>
+            <image>
+              <width>640</width>
+              <height>480</height>
+            </image>
+            <clip>
+              <near>0.01</near>
+              <far>60</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>20</update_rate>
+          <visualize>false</visualize>
+        </sensor>
     </gazebo>
 
 </robot>

description/lidar.xacro

@@ -6,7 +6,7 @@
     <joint name="laser_joint" type="fixed">
         <parent link="chassis"/>
         <child link="laser_frame"/>
-        <origin xyz="-1.1070259 0.0 1.0059250" rpy="0 0 0"/>
+        <origin xyz="-0.985 0.0 ${1.08-0.024604}" rpy="0 0 0"/>
     </joint>
 
     

description/robot_core.xacro

@@ -15,7 +15,7 @@
     <link name="chassis">
       <visual>
         <geometry>
-          <mesh filename="file://$(find sensor_sim)/description/assets/ft24_asm.dae"/>
+          <mesh filename="file://$(find sensor_sim)/description/assets/ft24_asm.obj" scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="grey"/>
       </visual>