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Here is some of my urdf.xacro file that impliments a camera at a specified camera_pitch. Note line 11: <origin xyz="0 0 ${1+base_height}" rpy="0 ${-cam_pitch} 0"/>

<!-- Vision Camera -->
    <link name="camera_link">
            <origin xyz="0 0 0" rpy="0 0 0" />
                <box size="${camera_size} ${camera_size} ${camera_size}" />
    <joint name="camera_joint" type="fixed">
      <origin xyz="0 0 ${1+base_height}" rpy="0 ${-cam_pitch} 0" />
      <parent link="base_link"/>
      <child link="camera_link" />
    <gazebo reference="camera_link">
      <sensor type="camera" name="camera">
        <camera name="head">
            < Noise is sampled independently per pixel on each frame.
                 That pixel's noise value is added to each of its color
                 channels, which at that point lie in the range [0,1]. >
        <plugin name="camera_controller" filename="">