107 lines
3.8 KiB
Plaintext
107 lines
3.8 KiB
Plaintext
<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>
|