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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0"?> | ||
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| <model> | ||
| <name>ZED_Stereocamera</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.5">model.sdf</sdf> | ||
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| <author> | ||
| <name>Seunghwan Jo</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
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| <description> | ||
| StereoLabs ZED Stereovision Camera connected with ROS | ||
| </description> | ||
| </model> |
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| @@ -0,0 +1,89 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.5"> | ||
| <model name="ZED_stereocamera"> | ||
| <link name="link"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.159</mass> | ||
| <inertia> | ||
| <ixx>0.000012</ixx> | ||
| <iyy>0.000406</iyy> | ||
| <izz>0.000418</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.1 0.1 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri> model://ZED_stereocamera/meshes/ZED.stl</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <visual name="visual_lens_left"> | ||
| <pose>0 -0.06 0 0 1.57 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.007</radius> | ||
| <length>0.030</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/WideLensMap</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| <visual name="visual_lens_right"> | ||
| <pose>0 0.06 0 0 1.57 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.007</radius> | ||
| <length>0.030</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/WideLensMap</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| <sensor name="camera" type="multicamera"> | ||
| <always_on>1</always_on> | ||
| <update_rate>30</update_rate> | ||
| <visualize>true</visualize> | ||
| <camera name="left"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <horizontal_fov>1.91986</horizontal_fov> | ||
| <image> | ||
| <width>720</width> | ||
| <height>480</height> | ||
| </image> | ||
| <clip> | ||
| <near>0.1</near> | ||
| <far>100</far> | ||
| </clip> | ||
| </camera> | ||
| <camera name="right"> | ||
| <pose>0 -0.12 0 0 0 0</pose> | ||
| <horizontal_fov>1.91986</horizontal_fov> | ||
| <image> | ||
| <width>720</width> | ||
| <height>480</height> | ||
| </image> | ||
| <clip> | ||
| <near>0.1</near> | ||
| <far>100</far> | ||
| </clip> | ||
| </camera> | ||
| </sensor> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
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| <model name="ZED_stereocamera"> | ||
| <link name="ZED_left_camera"> | ||
| <pose>0 0 0 0 1.57 0</pose> | ||
| <inertial> | ||
| <mass>0.01</mass> | ||
| <inertia> | ||
| <ixx>0.000001</ixx> | ||
| <iyy>0.000001</iyy> | ||
| <izz>0.000001</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.007</radius> | ||
| <length>0.031</length> | ||
| </cylinder> | ||
| </geometry> | ||
| </visual> | ||
|
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| <sensor name="ZED_cameras" type="multicamera"> | ||
| <always_on>1</always_on> | ||
| <update_rate>30</update_rate> | ||
| <visualize>true</visualize> | ||
| <camera name="camera_left"> | ||
| <pose>0 0 0 0 0 0 </pose> | ||
| <horizontal_fov>1.91986</horizontal_fov> | ||
| <image> | ||
| <width>720</width> | ||
| <height>480</height> | ||
| </image> | ||
| <clip> | ||
| <near>0.1</near> | ||
| <far>100</far> | ||
| </clip> | ||
| </camera> | ||
|
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||
| <camera name="camera_right"> | ||
| <pose>0 -0.12 0 0 0 0 </pose> | ||
| <horizontal_fov>1.91986</horizontal_fov> | ||
| <image> | ||
| <width>720</width> | ||
| <height>480</height> | ||
| </image> | ||
| <clip> | ||
| <near>0.1</near> | ||
| <far>100</far> | ||
| </clip> | ||
| </camera> | ||
| </sensor> | ||
| </link> | ||
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| <link name="ZED_center"> | ||
| <pose>0 -0.06 0 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.157</mass> | ||
| <inertia> | ||
| <ixx>0.000012</ixx> | ||
| <iyy>0.000406</iyy> | ||
| <izz>0.000418</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name="collision_frame"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.175 0.03 0.033</size> | ||
| </box> | ||
| </geometry> | ||
| <visual name="ZED_Visual"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri> model://ZED_stereocamera/meshes/ZED.stl</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| <link name="ZED_right_camera"> | ||
| <pose>0 -0.12 0 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.01</mass> | ||
| <inertia> | ||
| <ixx>0.000001</ixx> | ||
| <iyy>0.000001</iyy> | ||
| <izz>0.000001</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual> | ||
| <pose>0 0 0 0 1.57 0</pose> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.007</radius> | ||
| <length>0.031</length> | ||
| </cylinder> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="zed_camera"> | ||
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| <link name="ZED_left_camera"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 1.57 0"/> | ||
| <geometry> | ||
| <cylinder radius="0.007" length=".031"/> | ||
| </geometry> | ||
| <material name="dark_grey"> | ||
| <color rgba="0.1 0.1 0.1 1"/> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| <link name="ZED_center"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://zed_wrapper/urdf/ZED.stl" /> | ||
| </geometry> | ||
| <material name="light_grey"> | ||
| <color rgba="0.8 0.8 0.8 0.8"/> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| <link name="ZED_right_camera"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 1.57 0"/> | ||
| <geometry> | ||
| <cylinder radius="0.007" length=".031"/> | ||
| </geometry> | ||
| <material name="dark_grey"> | ||
| <color rgba="0.1 0.1 0.1 1"/> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
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| <joint name="ZED_center_joint" type="fixed"> | ||
| <parent link="ZED_left_camera"/> | ||
| <child link="ZED_center"/> | ||
| <origin xyz="0 -0.06 0" rpy="0 0 0" /> | ||
| </joint> | ||
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| <joint name="ZED_right_camera_joint" type="fixed"> | ||
| <parent link="ZED_left_camera"/> | ||
| <child link="ZED_right_camera"/> | ||
| <origin xyz="0 -0.12 0" rpy="0 0 0" /> | ||
| </joint> | ||
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| </robot> |
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160
gazebo_models/iris_with_sterovision/meshes/iris_prop_ccw.dae
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160 changes: 160 additions & 0 deletions
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gazebo_models/iris_with_sterovision/meshes/iris_prop_cw.dae
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| <?xml version="1.0"?> | ||
|
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| <model> | ||
| <name>Iris with Standoffs and Camera LiftDrag ArduCopter Plugins</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
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| <author> | ||
| <name>Fadri Furrer</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
| <author> | ||
| <name>Michael Burri</name> | ||
| </author> | ||
| <author> | ||
| <name>Mina Kamel</name> | ||
| </author> | ||
| <author> | ||
| <name>Janosch Nikolic</name> | ||
| </author> | ||
| <author> | ||
| <name>Markus Achtelik</name> | ||
| </author> | ||
|
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| <maintainer email="[email protected]">john hsu</maintainer> | ||
|
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| <description> | ||
| starting with iris_with_standoffs | ||
| add LiftDragPlugin | ||
| add ArduCopterPlugin | ||
| attach gimbal_small_2d model with GimbalSmall2dPlugin | ||
| </description> | ||
| <depend> | ||
| <model> | ||
| <uri>model://gimbal_small_2d</uri> | ||
| <version>1.0</version> | ||
| </model> | ||
| <model> | ||
| <uri>model://iris_with_standoffs</uri> | ||
| <version>1.0</version> | ||
| </model> | ||
| </depend> | ||
| </model> |
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