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I can't find any reference to the gazebo_ros_camera plugin in more recent URDFs; however, there are some old ones around like this one, where the camera block looks like this:

<gazebo reference="wide_stereo_gazebo_l_stereo_camera_frame">
  <sensor:camera name="wide_stereo_gazebo_l_stereo_camera_sensor">
    <imageSize>640 480</imageSize>
    <imageFormat>BAYER_BGGR8</imageFormat>
    <hfov>90</hfov>
    <nearClip>0.1</nearClip>
    <farClip>100</farClip>
    <updateRate>25.0</updateRate>
    <controller:gazebo_ros_camera name="wide_stereo_gazebo_l_stereo_camera_controller" plugin="libgazebo_ros_camera.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>25.0</updateRate>
      <imageTopicName>wide_stereo/left/image_raw</imageTopicName>
      <cameraInfoTopicName>wide_stereo/left/camera_info</cameraInfoTopicName>
      <frameName>wide_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>320</focal_length>
      <distortion_k1>0.00000001</distortion_k1>
      <distortion_k2>0.00000001</distortion_k2>
      <distortion_k3>0.00000001</distortion_k3>
      <distortion_t1>0.00000001</distortion_t1>
      <distortion_t2>0.00000001</distortion_t2>
      <interface:camera name="wide_stereo_gazebo_l_stereo_camera_iface"/>
    </controller:gazebo_ros_camera>
  </sensor:camera>
  <turnGravityOff>true</turnGravityOff>
  <material>PR2/Blue</material>
</gazebo>