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gazebo_ros_multi_camera_demo.world
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gazebo_ros_multi_camera_demo.world
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<?xml version="1.0" ?>
<!--
Gazebo ROS multi camera plugin demo
Try for example:
* Try listening to left camera info at `/demo_cam/mycamera/left/camera_info_demo`
* Try listening to right camera info at `/demo_cam/mycamera/right/camera_info_demo`
* Launch RViz
* Visualize left camera images from `/demo_cam/mycamera/left/image_demo`
* Visualize right camera images from `/demo_cam/mycamera/right/image_demo`
-->
<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="multicamera" name="camera1">
<pose>0 -0.2 0 0 0 0</pose>
<update_rate>60</update_rate>
<visualize>true</visualize>
<camera name="left">
<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>
<camera name="right">
<pose>0 0.4 0 0 0 0</pose>
<horizontal_fov>0.7</horizontal_fov>
<image>
<width>320</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_cam</namespace>
<!-- topics need to be prefixed with camera_name for remapping -->
<argument>mycamera/left/image_raw:=mycamera/left/image_demo</argument>
<argument>mycamera/right/image_raw:=mycamera/right/image_demo</argument>
<argument>mycamera/left/camera_info:=mycamera/left/camera_info_demo</argument>
<argument>mycamera/right/camera_info:=mycamera/right/camera_info_demo</argument>
</ros>
<camera_name>mycamera</camera_name>
<!-- frame_name>omit so it defaults to link name</frame_name-->
<!-- Specify if triggered camera -->
<triggered>false</triggered>
</plugin>
</sensor>
</link>
</model>
</world>
</sdf>