model.sdf
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="camera">
<link name="link">
<inertial>
<pose>0.01 0.025 0.025 0 0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>4.15e-6</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.407e-6</iyy>
<iyz>0</iyz>
<izz>2.407e-6</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.02 0.05 0.05</size>
</box>
</geometry>
</visual>
<!--752x480 MT9V034 image sensor, only 64x64 pixels used-->
<sensor name="PX4Flow" type="camera">
<always_on>true</always_on>
<update_rate>100.0</update_rate>
<visualize>true</visualize>
<topic>/px4flow</topic>
<camera>
<horizontal_fov>0.088</horizontal_fov>
<image>
<width>64</width>
<height>64</height>
<format>L8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.001</stddev>
</noise>
</camera>
<plugin name="opticalflow_plugin" filename="libgazebo_opticalflow_plugin.so">
<robotNamespace></robotNamespace>
<outputRate>20</outputRate>
</plugin>
</sensor>
</link>
</model>
</sdf>
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