From eb0f994d32550864ba3ec5e9b1cee84a135a9e52 Mon Sep 17 00:00:00 2001 From: marvin <marvin@marvin-TERRA-MOBILE-1529H> Date: Thu, 12 Mar 2020 00:20:42 +0100 Subject: [PATCH] remove bot_decription --- .../input/bot_description/Burger.gazebo.xacro | 135 ------------- .../BurgerForAutorace.gazebo.xacro | 169 ---------------- .../input/bot_description/Waffle.gazebo.xacro | 190 ------------------ .../bot_description/WafflePi.gazebo.xacro | 180 ----------------- 4 files changed, 674 deletions(-) delete mode 100644 src/var/FeatureModelConfigurator/resources/input/bot_description/Burger.gazebo.xacro delete mode 100644 src/var/FeatureModelConfigurator/resources/input/bot_description/BurgerForAutorace.gazebo.xacro delete mode 100644 src/var/FeatureModelConfigurator/resources/input/bot_description/Waffle.gazebo.xacro delete mode 100644 src/var/FeatureModelConfigurator/resources/input/bot_description/WafflePi.gazebo.xacro diff --git a/src/var/FeatureModelConfigurator/resources/input/bot_description/Burger.gazebo.xacro b/src/var/FeatureModelConfigurator/resources/input/bot_description/Burger.gazebo.xacro deleted file mode 100644 index 817e798..0000000 --- a/src/var/FeatureModelConfigurator/resources/input/bot_description/Burger.gazebo.xacro +++ /dev/null @@ -1,135 +0,0 @@ -<?xml version="1.0"?> -<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro"> - <xacro:arg name="laser_visual" default="false"/> - <xacro:arg name="imu_visual" default="false"/> - - <gazebo reference="base_link"> - <material>Gazebo/DarkGrey</material> - </gazebo> - - <gazebo reference="wheel_left_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="wheel_right_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="caster_back_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>1000000.0</kp> - <kd>100.0</kd> - <minDepth>0.001</minDepth> - <maxVel>1.0</maxVel> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="imu_link"> - <sensor type="imu" name="imu"> - <always_on>true</always_on> - <visualize>$(arg imu_visual)</visualize> - </sensor> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo> - <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so"> - <commandTopic>cmd_vel</commandTopic> - <odometryTopic>odom</odometryTopic> - <odometryFrame>odom</odometryFrame> - <odometrySource>world</odometrySource> - <publishOdomTF>true</publishOdomTF> - <robotBaseFrame>base_footprint</robotBaseFrame> - <publishWheelTF>false</publishWheelTF> - <publishTf>true</publishTf> - <publishWheelJointState>true</publishWheelJointState> - <legacyMode>false</legacyMode> - <updateRate>30</updateRate> - <leftJoint>wheel_left_joint</leftJoint> - <rightJoint>wheel_right_joint</rightJoint> - <wheelSeparation>0.160</wheelSeparation> - <wheelDiameter>0.066</wheelDiameter> - <wheelAcceleration>1</wheelAcceleration> - <wheelTorque>10</wheelTorque> - <rosDebugLevel>na</rosDebugLevel> - </plugin> - </gazebo> - - <gazebo> - <plugin name="imu_plugin" filename="libgazebo_ros_imu.so"> - <alwaysOn>true</alwaysOn> - <bodyName>imu_link</bodyName> - <frameName>imu_link</frameName> - <topicName>imu</topicName> - <serviceName>imu_service</serviceName> - <gaussianNoise>0.0</gaussianNoise> - <updateRate>200</updateRate> - <imu> - <noise> - <type>gaussian</type> - <rate> - <mean>0.0</mean> - <stddev>2e-4</stddev> - <bias_mean>0.0000075</bias_mean> - <bias_stddev>0.0000008</bias_stddev> - </rate> - <accel> - <mean>0.0</mean> - <stddev>1.7e-2</stddev> - <bias_mean>0.1</bias_mean> - <bias_stddev>0.001</bias_stddev> - </accel> - </noise> - </imu> - </plugin> - </gazebo> - - <gazebo reference="base_scan"> - <material>Gazebo/FlatBlack</material> - <sensor type="ray" name="lds_lfcd_sensor"> - <pose>0 0 0 0 0 0</pose> - <visualize>$(arg laser_visual)</visualize> - <update_rate>5</update_rate> - <ray> - <scan> - <horizontal> - <samples>360</samples> - <resolution>1</resolution> - <min_angle>0.0</min_angle> - <max_angle>6.28319</max_angle> - </horizontal> - </scan> - <range> - <min>0.120</min> - <max>3.5</max> - <resolution>0.015</resolution> - </range> - <noise> - <type>gaussian</type> - <mean>0.0</mean> - <stddev>0.01</stddev> - </noise> - </ray> - <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so"> - <topicName>scan</topicName> - <frameName>base_scan</frameName> - </plugin> - </sensor> - </gazebo> - -</robot> diff --git a/src/var/FeatureModelConfigurator/resources/input/bot_description/BurgerForAutorace.gazebo.xacro b/src/var/FeatureModelConfigurator/resources/input/bot_description/BurgerForAutorace.gazebo.xacro deleted file mode 100644 index 9ea2980..0000000 --- a/src/var/FeatureModelConfigurator/resources/input/bot_description/BurgerForAutorace.gazebo.xacro +++ /dev/null @@ -1,169 +0,0 @@ -<?xml version="1.0"?> -<robot name="turtlebot3_burger_for_autorace_sim" xmlns:xacro="http://ros.org/wiki/xacro"> - <xacro:arg name="laser_visual" default="false"/> - <xacro:arg name="camera_visual" default="false"/> - <xacro:arg name="imu_visual" default="false"/> - - <gazebo reference="base_link"> - <material>Gazebo/DarkGrey</material> - </gazebo> - - <gazebo reference="wheel_left_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="wheel_right_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="caster_back_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>1000000.0</kp> - <kd>100.0</kd> - <minDepth>0.001</minDepth> - <maxVel>1.0</maxVel> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="imu_link"> - <sensor type="imu" name="imu"> - <always_on>true</always_on> - <visualize>$(arg imu_visual)</visualize> - </sensor> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo> - <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so"> - <commandTopic>cmd_vel</commandTopic> - <odometryTopic>odom</odometryTopic> - <odometryFrame>odom</odometryFrame> - <odometrySource>world</odometrySource> - <publishOdomTF>true</publishOdomTF> - <robotBaseFrame>base_footprint</robotBaseFrame> - <publishWheelTF>false</publishWheelTF> - <publishTf>true</publishTf> - <publishWheelJointState>true</publishWheelJointState> - <legacyMode>false</legacyMode> - <updateRate>30</updateRate> - <leftJoint>wheel_left_joint</leftJoint> - <rightJoint>wheel_right_joint</rightJoint> - <wheelSeparation>0.160</wheelSeparation> - <wheelDiameter>0.066</wheelDiameter> - <wheelAcceleration>1</wheelAcceleration> - <wheelTorque>10</wheelTorque> - <rosDebugLevel>na</rosDebugLevel> - </plugin> - </gazebo> - - <gazebo> - <plugin name="imu_plugin" filename="libgazebo_ros_imu.so"> - <alwaysOn>true</alwaysOn> - <bodyName>imu_link</bodyName> - <topicName>imu</topicName> - <serviceName>imu_service</serviceName> - <gaussianNoise>0.0</gaussianNoise> - <updateRate>200</updateRate> - <imu> - <noise> - <type>gaussian</type> - <rate> - <mean>0.0</mean> - <stddev>2e-4</stddev> - <bias_mean>0.0000075</bias_mean> - <bias_stddev>0.0000008</bias_stddev> - </rate> - <accel> - <mean>0.0</mean> - <stddev>1.7e-2</stddev> - <bias_mean>0.1</bias_mean> - <bias_stddev>0.001</bias_stddev> - </accel> - </noise> - </imu> - </plugin> - </gazebo> - - <gazebo reference="base_scan"> - <material>Gazebo/FlatBlack</material> - <sensor type="ray" name="lds_lfcd_sensor"> - <pose>0 0 0 0 0 0</pose> - <visualize>$(arg laser_visual)</visualize> - <update_rate>5</update_rate> - <ray> - <scan> - <horizontal> - <samples>360</samples> - <resolution>1</resolution> - <min_angle>0.0</min_angle> - <max_angle>6.28319</max_angle> - </horizontal> - </scan> - <range> - <min>0.120</min> - <max>3.5</max> - <resolution>0.015</resolution> - </range> - <noise> - <type>gaussian</type> - <mean>0.0</mean> - <stddev>0.01</stddev> - </noise> - </ray> - <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so"> - <topicName>scan</topicName> - <frameName>base_scan</frameName> - </plugin> - </sensor> - </gazebo> - - <!--link : https://www.raspberrypi.org/documentation/hardware/camera/--> - <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>320</width> - <height>240</height> - <format>R8G8B8</format> - </image> - <clip> - <near>0.03</near> - <far>100</far> - </clip> - </camera> - <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> - <alwaysOn>true</alwaysOn> - <updateRate>30.0</updateRate> - <cameraName>camera</cameraName> - <frameName>camera_rgb_optical_frame</frameName> - <imageTopicName>image</imageTopicName> - <cameraInfoTopicName>camera_info</cameraInfoTopicName> - <hackBaseline>0.07</hackBaseline> - <distortionK1>0.0</distortionK1> - <distortionK2>0.0</distortionK2> - <distortionK3>0.0</distortionK3> - <distortionT1>0.0</distortionT1> - <distortionT2>0.0</distortionT2> - </plugin> - </sensor> - </gazebo> - -</robot> diff --git a/src/var/FeatureModelConfigurator/resources/input/bot_description/Waffle.gazebo.xacro b/src/var/FeatureModelConfigurator/resources/input/bot_description/Waffle.gazebo.xacro deleted file mode 100644 index 3eef193..0000000 --- a/src/var/FeatureModelConfigurator/resources/input/bot_description/Waffle.gazebo.xacro +++ /dev/null @@ -1,190 +0,0 @@ -<?xml version="1.0"?> -<robot name="turtlebot3_waffle_sim" xmlns:xacro="http://ros.org/wiki/xacro"> - <xacro:arg name="laser_visual" default="false"/> - <xacro:arg name="camera_visual" default="false"/> - <xacro:arg name="imu_visual" default="false"/> - - <gazebo reference="base_link"> - <material>Gazebo/DarkGrey</material> - </gazebo> - - <gazebo reference="wheel_left_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="wheel_right_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="caster_back_right_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>1000000.0</kp> - <kd>100.0</kd> - <minDepth>0.001</minDepth> - <maxVel>1.0</maxVel> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="caster_back_left_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>1000000.0</kp> - <kd>100.0</kd> - <minDepth>0.001</minDepth> - <maxVel>1.0</maxVel> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="imu_link"> - <sensor type="imu" name="imu"> - <always_on>true</always_on> - <visualize>$(arg imu_visual)</visualize> - </sensor> - <material>Gazebo/Grey</material> - </gazebo> - - <gazebo> - <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so"> - <commandTopic>cmd_vel</commandTopic> - <odometryTopic>odom</odometryTopic> - <odometryFrame>odom</odometryFrame> - <odometrySource>world</odometrySource> - <publishOdomTF>true</publishOdomTF> - <robotBaseFrame>base_footprint</robotBaseFrame> - <publishWheelTF>false</publishWheelTF> - <publishTf>true</publishTf> - <publishWheelJointState>true</publishWheelJointState> - <legacyMode>false</legacyMode> - <updateRate>30</updateRate> - <leftJoint>wheel_left_joint</leftJoint> - <rightJoint>wheel_right_joint</rightJoint> - <wheelSeparation>0.287</wheelSeparation> - <wheelDiameter>0.066</wheelDiameter> - <wheelAcceleration>1</wheelAcceleration> - <wheelTorque>10</wheelTorque> - <rosDebugLevel>na</rosDebugLevel> - </plugin> - </gazebo> - - <gazebo> - <plugin name="imu_plugin" filename="libgazebo_ros_imu.so"> - <alwaysOn>true</alwaysOn> - <bodyName>imu_link</bodyName> - <frameName>imu_link</frameName> - <topicName>imu</topicName> - <serviceName>imu_service</serviceName> - <gaussianNoise>0.0</gaussianNoise> - <updateRate>200</updateRate> - <imu> - <noise> - <type>gaussian</type> - <rate> - <mean>0.0</mean> - <stddev>2e-4</stddev> - <bias_mean>0.0000075</bias_mean> - <bias_stddev>0.0000008</bias_stddev> - </rate> - <accel> - <mean>0.0</mean> - <stddev>1.7e-2</stddev> - <bias_mean>0.1</bias_mean> - <bias_stddev>0.001</bias_stddev> - </accel> - </noise> - </imu> - </plugin> - </gazebo> - - <gazebo reference="base_scan"> - <material>Gazebo/FlatBlack</material> - <sensor type="ray" name="lds_lfcd_sensor"> - <pose>0 0 0 0 0 0</pose> - <visualize>$(arg laser_visual)</visualize> - <update_rate>5</update_rate> - <ray> - <scan> - <horizontal> - <samples>360</samples> - <resolution>1</resolution> - <min_angle>0.0</min_angle> - <max_angle>6.28319</max_angle> - </horizontal> - </scan> - <range> - <min>0.120</min> - <max>3.5</max> - <resolution>0.015</resolution> - </range> - <noise> - <type>gaussian</type> - <mean>0.0</mean> - <stddev>0.01</stddev> - </noise> - </ray> - <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so"> - <topicName>scan</topicName> - <frameName>base_scan</frameName> - </plugin> - </sensor> - </gazebo> - - <gazebo reference="camera_rgb_frame"> - <sensor type="depth" name="realsense_R200"> - <always_on>true</always_on> - <visualize>$(arg camera_visual)</visualize> - <camera> - <horizontal_fov>1.3439</horizontal_fov> - <image> - <width>1920</width> - <height>1080</height> - <format>R8G8B8</format> - </image> - <depth_camera></depth_camera> - <clip> - <near>0.03</near> - <far>100</far> - </clip> - </camera> - <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so"> - <baseline>0.2</baseline> - <alwaysOn>true</alwaysOn> - <updateRate>30.0</updateRate> - <cameraName>camera</cameraName> - <frameName>camera_rgb_optical_frame</frameName> - <imageTopicName>rgb/image_raw</imageTopicName> - <depthImageTopicName>depth/image_raw</depthImageTopicName> - <pointCloudTopicName>depth/points</pointCloudTopicName> - <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName> - <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName> - <pointCloudCutoff>0.4</pointCloudCutoff> - <hackBaseline>0.07</hackBaseline> - <distortionK1>0.0</distortionK1> - <distortionK2>0.0</distortionK2> - <distortionK3>0.0</distortionK3> - <distortionT1>0.0</distortionT1> - <distortionT2>0.0</distortionT2> - <CxPrime>0.0</CxPrime> - <Cx>0.0</Cx> - <Cy>0.0</Cy> - <focalLength>0</focalLength> - <hackBaseline>0</hackBaseline> - </plugin> - </sensor> - </gazebo> - -</robot> diff --git a/src/var/FeatureModelConfigurator/resources/input/bot_description/WafflePi.gazebo.xacro b/src/var/FeatureModelConfigurator/resources/input/bot_description/WafflePi.gazebo.xacro deleted file mode 100644 index 191daa8..0000000 --- a/src/var/FeatureModelConfigurator/resources/input/bot_description/WafflePi.gazebo.xacro +++ /dev/null @@ -1,180 +0,0 @@ -<?xml version="1.0"?> -<robot name="turtlebot3_waffle_pi_sim" xmlns:xacro="http://ros.org/wiki/xacro"> - <xacro:arg name="laser_visual" default="false"/> - <xacro:arg name="camera_visual" default="false"/> - <xacro:arg name="imu_visual" default="false"/> - - <gazebo reference="base_link"> - <material>Gazebo/DarkGrey</material> - </gazebo> - - <gazebo reference="wheel_left_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="wheel_right_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>500000.0</kp> - <kd>10.0</kd> - <minDepth>0.001</minDepth> - <maxVel>0.1</maxVel> - <fdir1>1 0 0</fdir1> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="caster_back_right_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>1000000.0</kp> - <kd>100.0</kd> - <minDepth>0.001</minDepth> - <maxVel>1.0</maxVel> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="caster_back_left_link"> - <mu1>0.1</mu1> - <mu2>0.1</mu2> - <kp>1000000.0</kp> - <kd>100.0</kd> - <minDepth>0.001</minDepth> - <maxVel>1.0</maxVel> - <material>Gazebo/FlatBlack</material> - </gazebo> - - <gazebo reference="imu_link"> - <sensor type="imu" name="imu"> - <always_on>true</always_on> - <visualize>$(arg imu_visual)</visualize> - </sensor> - <material>Gazebo/Grey</material> - </gazebo> - - <gazebo> - <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so"> - <commandTopic>cmd_vel</commandTopic> - <odometryTopic>odom</odometryTopic> - <odometryFrame>odom</odometryFrame> - <odometrySource>world</odometrySource> - <publishOdomTF>true</publishOdomTF> - <robotBaseFrame>base_footprint</robotBaseFrame> - <publishWheelTF>false</publishWheelTF> - <publishTf>true</publishTf> - <publishWheelJointState>true</publishWheelJointState> - <legacyMode>false</legacyMode> - <updateRate>30</updateRate> - <leftJoint>wheel_left_joint</leftJoint> - <rightJoint>wheel_right_joint</rightJoint> - <wheelSeparation>0.287</wheelSeparation> - <wheelDiameter>0.066</wheelDiameter> - <wheelAcceleration>1</wheelAcceleration> - <wheelTorque>10</wheelTorque> - <rosDebugLevel>na</rosDebugLevel> - </plugin> - </gazebo> - - <gazebo> - <plugin name="imu_plugin" filename="libgazebo_ros_imu.so"> - <alwaysOn>true</alwaysOn> - <bodyName>imu_link</bodyName> - <frameName>imu_link</frameName> - <topicName>imu</topicName> - <serviceName>imu_service</serviceName> - <gaussianNoise>0.0</gaussianNoise> - <updateRate>200</updateRate> - <imu> - <noise> - <type>gaussian</type> - <rate> - <mean>0.0</mean> - <stddev>2e-4</stddev> - <bias_mean>0.0000075</bias_mean> - <bias_stddev>0.0000008</bias_stddev> - </rate> - <accel> - <mean>0.0</mean> - <stddev>1.7e-2</stddev> - <bias_mean>0.1</bias_mean> - <bias_stddev>0.001</bias_stddev> - </accel> - </noise> - </imu> - </plugin> - </gazebo> - - <gazebo reference="base_scan"> - <material>Gazebo/FlatBlack</material> - <sensor type="ray" name="lds_lfcd_sensor"> - <pose>0 0 0 0 0 0</pose> - <visualize>$(arg laser_visual)</visualize> - <update_rate>5</update_rate> - <ray> - <scan> - <horizontal> - <samples>360</samples> - <resolution>1</resolution> - <min_angle>0.0</min_angle> - <max_angle>6.28319</max_angle> - </horizontal> - </scan> - <range> - <min>0.120</min> - <max>3.5</max> - <resolution>0.015</resolution> - </range> - <noise> - <type>gaussian</type> - <mean>0.0</mean> - <stddev>0.01</stddev> - </noise> - </ray> - <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so"> - <topicName>scan</topicName> - <frameName>base_scan</frameName> - </plugin> - </sensor> - </gazebo> - -<!--link : https://www.raspberrypi.org/documentation/hardware/camera/--> - <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> - <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> - <alwaysOn>true</alwaysOn> - <updateRate>30.0</updateRate> - <cameraName>camera</cameraName> - <frameName>camera_rgb_optical_frame</frameName> - <imageTopicName>rgb/image_raw</imageTopicName> - <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName> - <hackBaseline>0.07</hackBaseline> - <distortionK1>0.0</distortionK1> - <distortionK2>0.0</distortionK2> - <distortionK3>0.0</distortionK3> - <distortionT1>0.0</distortionT1> - <distortionT2>0.0</distortionT2> - </plugin> - </sensor> - </gazebo> - -</robot> -- GitLab