How to define a camera model

asked 2014-10-30 08:00:09 -0600

arenillas gravatar image

Hi, I am developing a robot in gazebo 1.9.5 using ROS Hydro. My .gazebo file contains this code:

<!-- camera -->
  <gazebo reference="camera_tilt_link">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/Red</material>

    <sensor type="camera" name="camera1">
      <update_rate>30.0</update_rate>
      <camera name="head">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>800</width>
          <height>800</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <!-- 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]. -->
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>/summit_xl/camera1</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_tilt_link</frameName>
        <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>

I have read in ROS REP's that every camera needs a frame called optical and this camera doesn't have it. Do you know how can I change it?

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Comments

The camera\_tilt_link is a frame which has the X axis pointing to the front

arenillas gravatar imagearenillas ( 2014-10-30 08:02:06 -0600 )edit