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Add custom xarm packages

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Nicolas Hiillos
2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
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127
src/custom_xarm_description/urdf/camera/realsense.gazebo.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="realsense_gazebo" params="prefix">
<gazebo reference="${prefix}camera_depth_frame">
<sensor name="cameradepth" type="depth">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.100</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="${prefix}camera_color_frame">
<sensor name="cameracolor" type="camera">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>1</visualize>
</sensor>
</gazebo>
<gazebo reference="${prefix}camera_left_ir_frame">
<sensor name="cameraired1" type="camera">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.05</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>1</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="${prefix}camera_right_ir_frame">
<sensor name="cameraired2" type="camera">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.05</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>1</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo>
<plugin name="realsense_gazebo_camera" filename="librealsense_gazebo_plugin.so">
<prefix>camera</prefix>
<depthUpdateRate>30.0</depthUpdateRate>
<colorUpdateRate>30.0</colorUpdateRate>
<infraredUpdateRate>1.0</infraredUpdateRate>
<depthTopicName>aligned_depth_to_color/image_raw</depthTopicName>
<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>color/image_raw</colorTopicName>
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>infra1/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>infra2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.3</rangeMinDepth>
<rangeMaxDepth>3.0</rangeMaxDepth>
<pointCloud>true</pointCloud>
<pointCloudTopicName>depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.3</pointCloudCutoff>
</plugin>
</gazebo>
</xacro:macro>
</robot>