gazebo_ros_camera_triggered_demo.world

<?xml version="1.0" ?>
<!--
  Gazebo ROS triggered camera plugin demo

  Try for example:

  1. Launch RViz and visualize Images from `/demo_triggered_cam/camera1/image_raw/raw`

      Nothing should show at first, because the camera hasn't been triggered.

  2. Trigger the camera as follows and see a new image show up on RViz.

      ros2 topic pub /demo_triggered_cam/camera1/image_trigger std_msgs/Empty -1

-->
<sdf version="1.6">

  <world name="default">

    <include>
      <uri>model://sun</uri>
    </include>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
              <bounce>
                <restitution_coefficient>1.0</restitution_coefficient>
                <threshold>0</threshold>
              </bounce>
              <contact>
                <ode>
                  <max_vel>10000</max_vel>
                  <min_depth>0.001</min_depth>
                </ode>
              </contact>
          </surface>
        </collision>
        <visual name="visual">
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="ball">
      <allow_auto_disable>false</allow_auto_disable>
      <pose>-1 0 1 0 0 0</pose>
      <static>false</static>
      <link name="link">
        <inertial>
          <mass>0.026</mass>
          <!-- inertia based on solid sphere 2/5 mr^2 -->
          <inertia>
            <ixx>1.664e-5</ixx>
            <iyy>1.664e-5</iyy>
            <izz>1.664e-5</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.04</radius>
            </sphere>
          </geometry>
          <surface>
            <bounce>
              <restitution_coefficient>1.0</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <max_vel>10000</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.04</radius>
            </sphere>
          </geometry>
        </visual>
      </link>
    </model>

    <model name="camera_model">
      <pose>0 0 0.5 0 0 3.14</pose>
      <static>true</static>
      <link name="camera_link">
        <sensor type="camera" name="camera1">
          <update_rate>60</update_rate>
          <visualize>true</visualize>
          <camera name="head">
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <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">
            <ros>
              <namespace>demo_triggered_cam</namespace>
            </ros>
            <triggered>true</triggered>
          </plugin>
        </sensor>
      </link>
    </model>
  </world>
</sdf>