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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<gazebo reference="depth_camera_link">
<sensor type="depth" name="depth_camera_sensor">
<always_on>true</always_on>
<update_rate>0.0</update_rate>
<visualize>true</visualize>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<format>B8G8R8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.001</near>
<far>100.0</far>
</clip>
</camera>
<plugin name="depth_camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<cameraName>depth_camera_rgb</cameraName>
<depthImageTopicName>/depth_camera/depth_registered/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>/depth_camera/depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>/depth_camera/points</pointCloudTopicName>
<frameName>depth_camera_frame</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
</plugin>
</sensor>
<material value="Gazebo/Black" />
</gazebo>
<joint name="camera_to_frame" type="fixed">
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
<parent link="depth_camera_link"/>
<child link="depth_camera_frame"/>
</joint>
<link name="depth_camera_frame"/>
<link name="depth_camera_link">
<visual>
<geometry>
<mesh filename="package://ur_my_experiment/urdf/meshes/kinect.dae" />
</geometry>
</visual>
<collision>
<geometry>
<box size="0.073 0.276 0.072" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1"/>
<inertia
ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0"/>
</inertial>
</link>
</robot>