<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

    <joint name="camera_joint" type="fixed">
        <parent link="laser_frame"/>
        <child link="camera_link"/>
        <origin xyz="0 -0.2 0" rpy="0 0 0"/>
    </joint>

    <link name="camera_link">
        <visual>
            <geometry>
                <box size="0.025 0.09 0.025"/>
            </geometry>
            <material name="black"/>
        </visual>
    </link>


    <joint name="camera_optical_joint" type="fixed">
        <parent link="camera_link"/>
        <child link="camera_link_optical"/>
        <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
    </joint>

    <link name="camera_link_optical"></link>



    <gazebo reference="camera_link">
        <material>Gazebo/Black</material>
        <sensor name="segmentation_camera" type="segmentation_camera">
          <ignition_frame_id>camera_link_optical</ignition_frame_id>
          <topic>semantic</topic>
          <camera>
            <horizontal_fov>1.047</horizontal_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>
