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jbohren/bb.sdf

Created October 2, 2014 22:15
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bb.sdf
<sdf version='1.4'>
<model name='stereo_cam'>
<link name='bumblebee_mount_link'>
<pose>0 0 1 1.5707 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.342001</mass>
<inertia>
<ixx>0.000101969</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000767529</iyy>
<iyz>0</iyz>
<izz>0.000740433</izz>
</inertia>
</inertial>
<collision name='bumblebee_mount_link_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://lcsr_camera_models/cameras/bumblebee/bumblebee2.dae</uri>
</mesh>
</geometry>
</collision>
<visual name='bumblebee_mount_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://lcsr_camera_models/cameras/bumblebee/bumblebee2.dae</uri>
</mesh>
</geometry>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<sensor name='stereo_camera' type='multicamera'>
<update_rate>48</update_rate>
<camera name='left'>
<pose>0.06 0 0 -5.76279e-13 1.5707 1.5707</pose>
<horizontal_fov>1.15192</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<camera name='right'>
<pose>-0.06 0 0 -5.76279e-13 1.5707 1.5707</pose>
<horizontal_fov>1.15192</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name='stereo_camera_controller' filename='libgazebo_ros_multicamera.so'>
<alwaysOn>true</alwaysOn>
<cameraName>bumblebee/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>bumblebee_optical_frame</frameName>
<hackBaseline>0.12</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
<pose>0 0 0 0 -0 0</pose>
</sensor>
</link>
<joint name='bumblebee2_mount_joint' type='revolute'>
<child>bumblebee_mount_link</child>
<parent>world</parent>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<damping>0</damping>
</dynamics>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>
Raw
bb.urdf
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from test.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="stereo_cam" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="world"/>
<joint name="bumblebee2_mount_joint" type="fixed">
<parent link="world"/>
<child link="bumblebee_mount_link"/>
<origin rpy="1.5707 0 0" xyz="0 0 1.0"/>
</joint>
<link name="bumblebee_mount_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://lcsr_camera_models/cameras/bumblebee/bumblebee2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://lcsr_camera_models/cameras/bumblebee/bumblebee2.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.342"/>
<inertia ixx="0.00010096866" ixy="0" ixz="0" iyy="0.00076652916" iyz="0" izz="0.0007394325"/>
</inertial>
</link>
<joint name="bumblebee_optical_joint" type="fixed">
<parent link="bumblebee_mount_link"/>
<child link="bumblebee_optical_frame"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="bumblebee_optical_frame">
<inertial>
<mass value="1E-6"/>
<inertia ixx="1E-6" ixy="0" ixz="0" iyy="1E-6" iyz="0" izz="1E-6"/>
</inertial>
</link>
<gazebo reference="bumblebee_optical_frame">
<sensor name="stereo_camera" type="multicamera">
<update_rate>48</update_rate>
<camera name="left">
<pose>0.06 0 0 0 1.5707 1.5707</pose>
<horizontal_fov>1.15191730632</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<camera name="right">
<pose>-0.06 0 0 0 1.5707 1.5707</pose>
<horizontal_fov>1.15191730632</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_multicamera.so" name="stereo_camera_controller">
<alwaysOn>true</alwaysOn>
<cameraName>bumblebee/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>bumblebee_optical_frame</frameName>
<hackBaseline>0.12</hackBaseline>
<!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
<!-- NOTE: Distortion is currently unused -->
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</robot>
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