smartlab-purdue / ros-tutorial-gazebo-simulation Goto Github PK

<!-- lightSensor-->
    <xacro:macro name="light_sensor" params="parent name *origin">
        <link name="${name}_link">
            <inertial>
                <mass value="0.1"/>
                <origin xyz="0 0 0"/>
                <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <geometry>
                    <mesh filename="package://robotino_description/meshes/sensors/RobotinoDistance.dae" scale="0.002 0.002 0.002"/>
                </geometry>
            </visual>
        </link>
        <gazebo reference="${name}_link">
          <material>Gazebo/Yellow</material>
          <turnGravityOff>false</turnGravityOff>
          <sensor type="camera" name="camera">
            <camera name='__default__'>
              <horizontal_fov>1.047</horizontal_fov>
              <image>
                <width>320</width>
                <height>240</height>
              </image>
              <clip>
                <near>0.1</near>
                <far>100</far>
              </clip>
            </camera>
            <plugin name="gazebo_light_sensor_plugin" filename="libgazebo_light_sensor_plugin.so">
              <cameraName>camera</cameraName>
              <alwaysOn>true</alwaysOn>
              <updateRate>10</updateRate>
              <imageTopicName>rgb/image_raw</imageTopicName>
              <depthImageTopicName>depth/image_raw</depthImageTopicName>
              <pointCloudTopicName>depth/points</pointCloudTopicName>
              <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
              <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
              <frameName>camera_depth_optical_frame</frameName>
              <baseline>0.1</baseline>
              <distortion_k1>0.0</distortion_k1>
              <distortion_k2>0.0</distortion_k2>
              <distortion_k3>0.0</distortion_k3>
              <distortion_t1>0.0</distortion_t1>
              <distortion_t2>0.0</distortion_t2>
              <pointCloudCutoff>0.4</pointCloudCutoff>
              <robotNamespace>/</robotNamespace>
            </plugin>
          </sensor>
        </gazebo>
        <joint name="${name}_joint" type="fixed">
            <insert_block name="origin" />
            <parent link="${parent}"/>
            <child link="${name}_link"/>
        </joint>
    </xacro:macro>