Changing resolution of camera in Gazebo

noetic

asked 2021-10-16 02:58:43 -0600

Roshan
51 ●18 ●28 ●34

Hello, I have a simulated Turtlebot3 Waffle Pi in Gazebo that uses the Rasperry Pi V2 camera. According to this documents: https://www.raspberrypi.com/documenta... it should be possible to have video resolution of 1080p. Wondering where you can change settings, looking at the turtlebot3_waffle_pi.gazebo.xacro there's these lines of code:

<gazebo reference="camera_rgb_frame">
    <sensor type="camera" name="Pi Camera">
      <always_on>true</always_on>
      <visualize>$(arg camera_visual)</visualize>
      <camera>
          <horizontal_fov>1.085595</horizontal_fov>
          <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
          </image>
          <clip>
              <near>0.03</near>
              <far>100</far>
          </clip>
      </camera>

Would it be possible to change the camera FOV and resolution by editing this?

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Comments

The page you link to describes the real hw. I'm not saying Gazebo cannot simulate that, but it's not uncommon for simulated systems to not have identical characteristics when compared to real hw.