74 lines
2.2 KiB
XML
74 lines
2.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<joint name="camera_joint" type="fixed">
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<parent link="chassis"/>
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<child link="camera_link"/>
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<origin xyz="-1.0269530 0.0328365 0.9993990" rpy="0 ${9.0*deg_to_rad} ${-20.1931*deg_to_rad}"/>
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</joint>
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<link name="camera_link">
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<visual>
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<geometry>
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<box size="0.03 0.03 0.03"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="camera_optical_joint" type="fixed">
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<parent link="camera_link"/>
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<child link="camera_link_optical"/>
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
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</joint>
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<link name="camera_link_optical"></link>
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<gazebo reference="camera_link">
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<material>Gazebo/Black</material>
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<sensor name="segmentation_camera" type="segmentation_camera">
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<ignition_frame_id>camera_link_optical</ignition_frame_id>
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<topic>semantic</topic>
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<camera>
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<horizontal_fov>${84.7*deg_to_rad}</horizontal_fov>
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<vertical_fov>${66.1*deg_to_rad}</vertical_fov>
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<image>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.01</near>
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<far>60</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>3</update_rate>
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<visualize>false</visualize>
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</sensor>
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<sensor name="boundingbox_camera" type="boundingbox_camera">
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<ignition_frame_id>camera_link_optical</ignition_frame_id>
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<topic>box</topic>
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<box_type>2d</box_type>
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<camera>
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<horizontal_fov>${84.7*deg_to_rad}</horizontal_fov>
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<vertical_fov>${66.1*deg_to_rad}</vertical_fov>
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<image>
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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>0.01</near>
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<far>60</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>3</update_rate>
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<visualize>false</visualize>
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</sensor>
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</gazebo>
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</robot>
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