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64 lines
2.6 KiB
XML
64 lines
2.6 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="kinect">
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<pose>0 0 0.036 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.01</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.073000 0.276000 0.072000</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://kinect/meshes/kinect.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name="camera" type="depth">
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<update_rate>15</update_rate>
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<camera>
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<horizontal_fov>1.2215</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.05</near>
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<far>12</far>
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</clip>
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</camera>
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<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
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<robotNamespace>qt_pi</robotNamespace>
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<baseline>0.2</baseline>
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<alwaysOn>true</alwaysOn>
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<updateRate>15</updateRate>
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<cameraName>camera_ir</cameraName>
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<imageTopicName>/qt_pi/camera_ir/color/image_raw</imageTopicName>
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<cameraInfoTopicName>/qt_pi/camera_ir/color/camera_info</cameraInfoTopicName>
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<depthImageTopicName>/qt_pi/camera_ir/depth/image_raw</depthImageTopicName>
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<depthImageInfoTopicName>/camera_ir/depth/camera_info</depthImageInfoTopicName>
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<pointCloudTopicName>/qt_pi/camera_ir/depth/points</pointCloudTopicName>
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<frameName>camera_link</frameName>
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<pointCloudCutoff>0.05</pointCloudCutoff>
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<distortionK1>0</distortionK1>
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<distortionK2>0</distortionK2>
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<distortionK3>0</distortionK3>
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<distortionT1>0</distortionT1>
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<distortionT2>0</distortionT2>
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<CxPrime>0</CxPrime>
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<Cx>0</Cx>
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<Cy>0</Cy>
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<focalLength>0</focalLength>
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<hackBaseline>0</hackBaseline>
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</plugin>
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</sensor>
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</link>
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</model>
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</sdf> |