c920.sdf.jinja
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{%- set m = 0.050 -%}
{%- set l = 0.005 -%}
{%- set w = 0.030 -%}
{%- set h = 0.010 -%}
{%- set ixx = m/12*(w**2 + h**2) -%}
{%- set iyy = m/12*(l**2 + h**2) -%}
{%- set izz = m/12*(l**2 + w**2) -%}
{%- macro box(l, w, h) -%}
<geometry>
<box>
<size>{{l}} {{w}} {{h}}</size>
</box>
</geometry>
{%- endmacro -%}
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="c920">
<link name="link">
<inertial>
<mass>{{m}}</mass>
<inertia>
<ixx>{{ixx}}</ixx>
<iyy>{{iyy}}</iyy>
<izz>{{izz}}</izz>
</inertia>
</inertial>
<visual name="visual">
{{ box(l, w, h)|indent(8) }}
</visual>
<collision name="collision">
{{ box(l, w, h)|indent(8) }}
</collision>
<sensor type="camera" name="c920_sensor">
<always_on>true</always_on>
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.229</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>10</far>
</clip>
<lens>
<type>gnomonical</type>
<scale_to_hfov>1</scale_to_hfov>
</lens>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<robotNamespace></robotNamespace>
<cameraName>c920</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</link>
</model>
</sdf>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->