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>
<sensor name="IRLock" type="logical_camera">
<always_on>true</always_on>
<update_rate>50.0</update_rate> <!-- according to IRLock spec -->
<visualize>true</visualize>
<topic>/irlock</topic>
<logical_camera>
<horizontal_fov>0.611</horizontal_fov> <!-- 35 deg -->
<near>0.1</near>
<far>15</far> <!-- detection range according to IRLock spec -->
<aspect_ratio>1.71</aspect_ratio>
</logical_camera>
<plugin name="irlock_plugin" filename="libgazebo_irlock_plugin.so">
<robotNamespace></robotNamespace>
</plugin>
</sensor>
</link>
</model>
</sdf>
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