bas_v2/src/multiagent_simulation/models/rgbd_camera/model.xacro at main · AFETZ/bas_v2 · GitHub

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<?xml version="1.0"?>
<sdf version="1.9" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <model name="rgbd_cameras">
    <static>true</static>
    <link name="rgbd_cameras_link">
      <pose>0 0 0 0 0 0</pose>
      <kinematic>true</kinematic>
      <gravity>false</gravity>
      <inertial>
        <mass>0.0</mass>
        <inertia>
          <ixx>0.0</ixx>
          <ixy>0.0</ixy>
          <iyy>0.0</iyy>
          <iyz>0.0</iyz>
          <izz>0.0</izz>
        </inertia>
      </inertial>
    </link>

    <!-- Macro Definition for Depth Camera -->
    <xacro:macro name="rgbd_camera_sensor"
      params="name pose horizontal_fov image_width image_height update_rate">
      <link name="${name}_link">
        <pose>${pose}</pose>
        <kinematic>true</kinematic>
        <gravity>false</gravity>

        <inertial>
          <mass>0.0</mass>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
        </inertial>

        <visual name="visual">
          <geometry>
            <box>
              <size>0.05 0.05 0.05</size>
            </box>
          </geometry>
          <material>
            <ambient>0 0 1 1</ambient>
            <diffuse>0 0 1 1</diffuse>
          </material>
        </visual>

        <visual name="landmark">
          <geometry>
            <cylinder>
              <radius>0.01</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <pose>0.03 0 0 0 1.5708 0</pose>
          <material>
            <ambient>1 0 0 1</ambient>
            <diffuse>1 0 0 1</diffuse>
          </material>
        </visual>

        <sensor name="${name}" type="rgbd_camera">
          <gz_frame_id>${name}_link</gz_frame_id>
          <pose>0 0 0 0 0 0</pose>
          <camera>
            <horizontal_fov>${horizontal_fov}</horizontal_fov>
            <image>
              <width>${image_width}</width>
              <height>${image_height}</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>100.0</far>
            </clip>
          </camera>
          <update_rate>${update_rate}</update_rate>
          <visualize>false</visualize>
        </sensor>
      </link>

      <joint name="${name}_joint" type="fixed">
        <parent>rgbd_cameras_link</parent>
        <child>${name}_link</child>
        <preserve_fixed_joint>true</preserve_fixed_joint>
      </joint>
    </xacro:macro>

    <!-- Add Camera Sensors -->
    <!-- <xacro:rgbd_camera_sensor
      name="zed_camera"
      pose="0.12 -0.02 0.0 0 0 0"
      horizontal_fov="1.91986"
      image_width="1920"
      image_height="1080"
      update_rate="30" /> -->
  </model>
</sdf>