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hubero_bringup_gazebo_ros - RGBD cameras detached from actor bodies (…
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…introduces unnecessary computational cost) (#37, #21)
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@rayvburn
rayvburn committed Feb 20, 2022
1 parent 2ed295e commit 6f3bb68
Showing 1 changed file with 1 addition and 184 deletions.
185 changes: 1 addition & 184 deletions hubero_bringup_gazebo_ros/worlds/parking.world
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Original file line number Diff line number Diff line change
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<scale>1.0</scale>
</skin>

<!-- camera sensor -->
<!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
<link name="camera_link">
<sensor name="camera" type="depth">
<!-- CS info: x - side axis, y - height, z - person's nose heading -->
<pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
<visualize>true</visualize>
<update_rate>2.5</update_rate>
<camera name="head">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>actor1/eyes</cameraName>
<imageTopicName>/hubero/actor1/receptor/camera/color/image_raw</imageTopicName>
<cameraInfoTopicName>/hubero/actor1/receptor/camera/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/hubero/actor1/receptor/camera/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/hubero/actor1/receptor/camera/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/hubero/actor1/receptor/camera/depth/cloud</pointCloudTopicName>
<frameName>actor1/base_camera_link</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</link>
<!-- laser sensor -->
<link name="laser_link">
<sensor type="gpu_ray" name="laser">
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<scale>1.0</scale>
</skin>

<!-- camera sensor -->
<!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
<link name="camera_link">
<sensor name="camera" type="depth">
<!-- CS info: x - side axis, y - height, z - person's nose heading -->
<pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
<visualize>true</visualize>
<update_rate>2.5</update_rate>
<camera name="head">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>actor2/eyes</cameraName>
<imageTopicName>/hubero/actor2/receptor/camera/color/image_raw</imageTopicName>
<cameraInfoTopicName>/hubero/actor2/receptor/camera/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/hubero/actor2/receptor/camera/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/hubero/actor2/receptor/camera/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/hubero/actor2/receptor/camera/depth/cloud</pointCloudTopicName>
<frameName>actor2/base_camera_link</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</link>
<!-- laser sensor -->
<link name="laser_link">
<sensor type="gpu_ray" name="laser">
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<scale>1.0</scale>
</skin>

<!-- camera sensor -->
<!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
<link name="camera_link">
<sensor name="camera" type="depth">
<!-- CS info: x - side axis, y - height, z - person's nose heading -->
<pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
<visualize>true</visualize>
<update_rate>2.5</update_rate>
<camera name="head">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>actor3/eyes</cameraName>
<imageTopicName>/hubero/actor3/receptor/camera/color/image_raw</imageTopicName>
<cameraInfoTopicName>/hubero/actor3/receptor/camera/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/hubero/actor3/receptor/camera/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/hubero/actor3/receptor/camera/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/hubero/actor3/receptor/camera/depth/cloud</pointCloudTopicName>
<frameName>actor3/base_camera_link</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</link>
<!-- laser sensor -->
<link name="laser_link">
<sensor type="gpu_ray" name="laser">
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<filename>walk.dae</filename>
<scale>1.0</scale>
</skin>
<!-- camera sensor -->
<!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
<link name="camera_link">
<sensor name="camera" type="depth">
<!-- CS info: x - side axis, y - height, z - person's nose heading -->
<pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
<visualize>true</visualize>
<update_rate>2.5</update_rate>
<camera name="head">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>300</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>actor4/eyes</cameraName>
<imageTopicName>/hubero/actor4/receptor/camera/color/image_raw</imageTopicName>
<cameraInfoTopicName>/hubero/actor4/receptor/camera/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/hubero/actor4/receptor/camera/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/hubero/actor4/receptor/camera/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/hubero/actor4/receptor/camera/depth/cloud</pointCloudTopicName>
<frameName>actor4/base_camera_link</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</link>

<!-- laser sensor -->
<link name="laser_link">
<sensor type="gpu_ray" name="laser">
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