pxmlw6n2f/Gazebo_Distributed_TCP/test/worlds/camera.world

<gazebo version="1.0">
  <world name="world_1">
    <scene>
      <ambient rgba="0.5 0.5 0.5 1.0"/>
      <background rgba="0.5 0.5 0.5 1.0">
        <sky material="Gazebo/CloudySky"/>
      </background>
      <shadows enabled="true" rgba="0.0 0.0 0.5 0.5" type="texture_gpu"/>
      <fog rgba="0.0 0.0 0.5 0.5" type="linear" start="2.0" end="10.0" density="0.5"/>
    </scene>

    <physics type="ode">
      <gravity xyz="0.0 0.0 -9.81"/>
      <ode>
        <solver type="quick" dt="0.001" iters="20" sor="1.3"/>
        <constraints cfm="0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.0"/>
      </ode>
      <max_contacts>250</max_contacts>
    </physics>

    <model name="model_1" static="false">

      <origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>

      <link name="link_1" self_collide="true" gravity="false" kinematic="false">
        <origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
        <inertial mass="10.0">
          <origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
          <damping linear="0.0" angular="0.0" />
          <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                   iyy="1.0" iyz="0.0"
                   izz="1.0"/>
        </inertial>

        <visual cast_shadows="true" name="visual_sphere" laser_retro="100.0">
          <origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
          <geometry>
            <sphere radius="0.5"/>
          </geometry>
          <material script="Gazebo/Green" normal_map="normal_map.png">
            <color rgba="0.03 0.5 0.5 1.0"/>
          </material>
        </visual>

        <collision name="collision_sphere" laser_retro="100.0">
          <origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
          <max_contacts>250</max_contacts>
          <geometry>
            <sphere radius="0.5"/>
          </geometry>
          <surface>
            <friction>
              <ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
            </friction>
            <bounce restitution_coefficient="0" threshold="1000000.0"/>
            <contact>
              <ode soft_cfm="0" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
            </contact>
          </surface>
        </collision>

        <sensor name="sensor_camera" type="camera" always_on="true" update_rate="2.0">
          <origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
          <camera>
            <horizontal_fov angle="1.57"/>
            <image width="2560" height="1600" format="BAYER_BGGR8"/>
            <clip near="0.01" far="100.0"/>
            <save enabled="false" path="/tmp"/>
          </camera>
        </sensor>

      </link>

    </model>

    <light type="point" name="light_1" cast_shadows="true">
      <origin pose="0.0 0.0 10.0 0.0 0.0 0.0"/>
      <diffuse rgba="0.5 0.5 0.5 0.5"/>
      <attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
      <direction xyz="0 0 -1"/>
      <spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
    </light>

    <plugin name="plugin_1" filename="libgazebo_ros_camera.so">
      <sensor>model_1::sensor_camera</sensor>
      <alwaysOn>true</alwaysOn>
      <updateRate>25.0</updateRate>
      <imageTopicName>narrow_stereo/left/image_raw</imageTopicName>
      <cameraInfoTopicName>narrow_stereo/left/camera_info</cameraInfoTopicName>
      <frameName>narrow_stereo_optical_frame</frameName>
      <hackBaseline>0</hackBaseline>
      <CxPrime>320.5</CxPrime>
      <Cx>320.5</Cx>
      <Cy>240.5</Cy>
      <!-- image_width / (2*tan(hfov_radian /2)) -->
      <!-- 320 for wide and 772.55 for narrow stereo camera -->
      <focal_length>772.55</focal_length>
      <distortion_k1>0.0</distortion_k1>
      <distortion_k2>0.0</distortion_k2>
      <distortion_k3>0.0</distortion_k3>
      <distortion_t1>0.0</distortion_t1>
      <distortion_t2>0.0</distortion_t2>
    </plugin>

  </world>
</gazebo>