58 lines
1.5 KiB
XML
58 lines
1.5 KiB
XML
<?xml version="1.0"?>
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<gazebo version="1.0">
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<world name="default">
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<include filename="ground_plane.model"/>
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<include filename="sun.light"/>
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<model name="projector_model" static="true">
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<origin pose="0 0 1 0.0 0.0 0"/>
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<link name="projector_link">
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<collision name="collision">
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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<material script="Gazebo/Grey"/>
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</visual>
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<projector name="texture_projector">
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<pose>0 0 0 0 -1.5707 0</pose>
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<texture>stereo_projection_pattern_high_res_red.png</texture>
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<fov>0.959931088597</fov>
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<near_clip>0.1</near_clip>
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<far_clip>10</far_clip>
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</projector>
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</link>
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<plugin filename="libprojector_plugin.so" name="projector">
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<projector>projector_link/texture_projector</projector>
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</plugin>
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</model>
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<model name="texture_test_model" static="true">
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<origin pose="3 0 1 0.0 0.0 0"/>
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<link name="texture_test_link">
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<collision name="collision">
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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<material script="Gazebo/Grey"/>
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</visual>
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</link>
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</model>
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</world>
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</gazebo>
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