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jackieokay/gazebo_ros_depth_cameras.world

Created April 27, 2016 16:16
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gazebo_ros_depth_cameras.world
<sdf version="1.3">
<world name="world_1">
<scene>
<ambient>0.5 0.5 0.5 1.0</ambient>
<background>0.5 0.5 0.5 1.0</background>
<shadows>true</shadows>
<fog>
<color>0.0 0.0 0.5 0.5</color>
<type>linear</type>
<start>2.0</start>
<end>10.0</end>
<density>0.5</density>
</fog>
</scene>
<physics type="ode">
<gravity>0.0 0.0 0.0</gravity>
<ode>
<solver>
<type>quick</type>
<dt>0.001</dt>
<iters>20</iters>
<sor>1.3</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
<max_contacts>250</max_contacts>
</physics>
<model name="model_1">
<pose>0.0 0.0 5.0 0.0 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1.0</iyy>
<iyz>0.0</iyz>
<izz>1.0</izz>
</inertia>
<mass>10.0</mass>
</inertial>
<visual name="visual_sphere">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0.05 0.3 0.3 1.0</ambient>
<script>Gazebo/Red</script>
</material>
<cast_shadows>true</cast_shadows>
<laser_retro>100.0</laser_retro>
</visual>
<collision name="collision_sphere">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.2</mu2>
<fdir1>1.0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1000000.0</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e15</kp>
<kd>1e13</kd>
<max_vel>100.0</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
<laser_retro>100.0</laser_retro>
</collision>
<sensor name="sensor_camera" type="depth">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<camera>
<horizontal_fov>1.578</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip near="0.01" far="100.0" />
<save enabled="false" path="/tmp" />
<depth_camera output="points" />
</camera>
<plugin name="plugin_1" filename="libgazebo_ros_depth_camera.so">
<alwaysOn>1</alwaysOn>
<updateRate>10.0</updateRate>
<imageTopicName>image_raw</imageTopicName>
<pointCloudTopicName>points</pointCloudTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<cameraName>depth_cam</cameraName>
<frameName>/base_link</frameName>
<pointCloudCutoff>0.001</pointCloudCutoff>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
</plugin>
<always_on>true</always_on>
<update_rate>10.0</update_rate>
</sensor>
<sensor name="sensor_camera2" type="depth">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<camera>
<horizontal_fov>1.578</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip near="0.01" far="100.0" />
<save enabled="false" path="/tmp" />
<depth_camera output="points" />
</camera>
<plugin name="plugin_1" filename="libgazebo_ros_depth_camera.so">
<alwaysOn>1</alwaysOn>
<updateRate>10.0</updateRate>
<imageTopicName>image_raw2</imageTopicName>
<pointCloudTopicName>points2</pointCloudTopicName>
<cameraInfoTopicName>camera_info2</cameraInfoTopicName>
<cameraName>depth_cam2</cameraName>
<frameName>/base_link</frameName>
<pointCloudCutoff>0.001</pointCloudCutoff>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
</plugin>
<always_on>true</always_on>
<update_rate>10.0</update_rate>
</sensor>
<gravity>false</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<static>false</static>
</model>
<model name="model_2">
<pose>5.0 0.0 5.0 0.0 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1.0</iyy>
<iyz>0.0</iyz>
<izz>1.0</izz>
</inertia>
<mass>10.0</mass>
</inertial>
<visual name="visual_box">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>1 2 2</size>
</box>
</geometry>
<material>
<ambient>0.00 0.9 0.1 1.0</ambient>
<script>Gazebo/Green</script>
</material>
<cast_shadows>true</cast_shadows>
<laser_retro>100.0</laser_retro>
</visual>
<collision name="collision_box">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<box>
<size>1 2 2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.2</mu2>
<fdir1>1.0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1000000.0</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e15</kp>
<kd>1e13</kd>
<max_vel>100.0</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
<laser_retro>100.0</laser_retro>
</collision>
<gravity>false</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<static>false</static>
</model>
<light type="point" name="light_1">
<pose>0.0 0.0 10.0 0.0 0.0 0.0</pose>
<diffuse>0.5 0.5 0.5 0.5</diffuse>
<attenuation>
<range>1000.0</range>
<constant>0.01</constant>
<quadratic>0.0001</quadratic>
</attenuation>
<direction>0 0 -1</direction>
<spot>
<inner_angle>1.57</inner_angle>
<outer_angle>1.57</outer_angle>
<falloff>1.0</falloff>
</spot>
<cast_shadows>true</cast_shadows>
</light>
</world>
</sdf>
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