[Jderobot-admin] jderobot-r869 - trunk/src/components/pluginsGazebo/kinect

ahcorde en jderobot.org ahcorde en jderobot.org
Vie Mar 1 10:37:47 CET 2013


Author: ahcorde
Date: 2013-03-01 10:36:47 +0100 (Fri, 01 Mar 2013)
New Revision: 869

Modified:
   trunk/src/components/pluginsGazebo/kinect/kinect.world
Log:
[ahcorde] Actualizo el munod de kinect para Gazebo


Modified: trunk/src/components/pluginsGazebo/kinect/kinect.world
===================================================================
--- trunk/src/components/pluginsGazebo/kinect/kinect.world	2013-03-01 09:33:40 UTC (rev 868)
+++ trunk/src/components/pluginsGazebo/kinect/kinect.world	2013-03-01 09:36:47 UTC (rev 869)
@@ -3,121 +3,41 @@
 <world name='default'>
   <include filename='ground_plane.model'/>
   <model name='pioneer2dx' static='0'>
-
-     <origin pose='10.000000 -15.000000 0.160000 0.000000 -0.000000 0.000000'/>      
-    <link name='kinect' gravity='0' self_collide='0' kinematic='0'>
-
-
-	   <inertial mass='0.100000' density='1.000000'/>
-
-      <origin pose='00.000000 0.000000 0.160000 0.000000 -0.000000 0.000000'/>
-      <visual name='visual' cast_shadows='1' laser_retro='0.000000' transparency='0.000000'>
-        <origin pose='0.000000 0.000000 0.040000 0.000000 -0.000000 0.000000'/>
-        <geometry>
-          <mesh filename='kinect/kinect.dae' scale='1.000000 1.000000 1.000000'/>
-        </geometry>
-      </visual>
-      <sensor name='kinect' type='depth' always_on='1' update_rate='30.000000' visualize='1'>
-        <camera>
-            <horizontal_fov angle="1.04719755"/>
-          <image width='640' height='480' format='R8G8B8'/>
-          <clip near='0.100000' far='10.000000'/>
-        </camera>
-        <plugin name='depth_camera_plugin' filename='libkinectPlugin.so'>
-			<point_cloud_topic_name>points</point_cloud_topic_name>
-			<camera_info_topic_name>camera_info</camera_info_topic_name>
-			<cameraName>depth_cam</cameraName>
-			<frameName>/base_link</frameName>
-			<point_cloud_cutoff>0.001</point_cloud_cutoff>
-			<distortionK1>0.00000001</distortionK1>
-			<distortionK2>0.00000001</distortionK2>
-			<distortionK3>0.00000001</distortionK3>
-			<distortionT1>0.00000001</distortionT1>
-			<distortionT2>0.00000001</distortionT2>
-		</plugin>
-      </sensor>
-      <damping/>
-    </link>
+        <pose>10.000000 -15.000000 0.160000 0.000000 -0.000000 0.000000</pose>
+        <link name="kinect">
+            <inertial>
+                <mass>0.30</mass>
+            </inertial>
+            <pose>-1.0 0 0.62 0 0 3.14</pose>
+            <visual name="visual">
+                <pose>0 0 0.04 0 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>model://kinect/meshes/kinect.dae</uri>
+                    </mesh>
+                </geometry>
+            </visual>
+            <sensor name="kinect" type="depth">
+                <update_rate>5</update_rate>
+                <camera>
+                    <horizontal_fov>1.047198</horizontal_fov>
+                    <image>
+                        <width>640</width>
+                        <height>480</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.05</near>
+                        <far>3</far>
+                    </clip>
+                </camera>
+                
+                <plugin name='depth_camera_plugin' filename='libkinectPlugin.so'>
+				</plugin>
+            </sensor>
+        </link>
   </model>
   <include filename='sun.light'/>
-  <physics type='ode' update_rate='0.000000'/>
-  <scene/>
-  <state world_name='default' time='2249 146000000'>
-    <model name='plane1_model'>
-      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
-      <link name='body'>
-        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
-        <velocity>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</velocity>
-      </link>
-    </model>
-    <model name='pioneer2dx'>
-      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
-      <link name='kinect'>
-        <pose>0.000000 0.000000 0.160000 0.000000 -0.000000 0.000000</pose>
-        <velocity>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</velocity>
-      </link>
-    </model>
-    <model name='custom_user_box1_model'>
-      <pose>1.500000 0.499998 0.499997 0.000003 0.000000 -0.000000</pose>
-      <link name='link'>
-        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
-        <velocity>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</velocity>
-      </link>
-    </model>
-  </state>
 
-    <actor name="actor1" static="true">
-      <origin pose="0 0 0 0 0 0"/>
-      <skin filename="sub_16.dae" scale="1.0"/>
-      <animation name="stand" filename="stand.dae" scale="1.0" interpolate_x="false"/>
-      <animation name="walking" filename="walk.dae" scale="1.0" interpolate_x="true"/>
-      
-      <script loop="true" delay_start="0.0" auto_start="true">
-        
-        <!--trajectory id="0" type="stand">
-          <waypoint time="0.0" pose="0 1 0 0 0 0"/> 
-          <waypoint time="10.0" pose="0 1 0 0 0 0"/>
-        </trajectory-->
-
-        <trajectory id="4" type="walking">
-          <waypoint time="0.0" pose="0 1 0 0 0 0"/>
-          <waypoint time="0.5" pose="0.19509 0.980785 0 0 0 -0.19635"/>
-          <waypoint time="1.0" pose="0.382683 0.92388 0 0 0 -0.392699"/>
-          <waypoint time="1.5" pose="0.55557 0.83147 0 0 0 -0.589049"/>
-          <waypoint time="2.0" pose="0.707107 0.707107 0 0 -0 -0.785398"/>
-          <waypoint time="2.5" pose="0.83147 0.55557 0 0 0 -0.981748"/>
-          <waypoint time="3.0" pose="0.92388 0.382683 0 0 0 -1.1781"/>
-          <waypoint time="3.5" pose="0.980785 0.19509 0 0 0 -1.37445"/>
-          <waypoint time="4.0" pose="1 0 0 0 0 -1.5708"/>
-          <waypoint time="4.5" pose="0.980785 -0.19509 0 0 0 -1.76715"/>
-          <waypoint time="5.0" pose="0.92388 -0.382683 0 0 0 -1.9635"/>
-          <waypoint time="5.5" pose="0.83147 -0.55557 0 0 0 -2.15984"/>
-          <waypoint time="6.0" pose="0.707107 -0.707107 0 0 0 -2.35619"/>
-          <waypoint time="6.5" pose="0.55557 -0.83147 0 0 0 -2.55254"/>
-          <waypoint time="7.0" pose="0.382683 -0.92388 0 0 0 -2.74889"/>
-          <waypoint time="7.5" pose="0.19509 -0.980785 0 0 0 -2.94524"/>
-          <waypoint time="8.0" pose="0 -1 0 0 0 -3.14159"/>
-          <waypoint time="8.5" pose="-0.19509 -0.980785 0 0 0 -3.33794"/>
-          <waypoint time="9.0" pose="-0.382683 -0.92388 0 0 0 -3.53429"/>
-          <waypoint time="9.5" pose="-0.55557 -0.83147 0 0 0 -3.73064"/>
-          <waypoint time="10.0" pose="-0.707107 -0.707107 0 0 0 -3.92699"/>
-          <waypoint time="10.5" pose="-0.83147 -0.55557 0 0 0 -4.12334"/>
-          <waypoint time="11.0" pose="-0.92388 -0.382683 0 0 0 -4.31969"/>
-          <waypoint time="11.5" pose="-0.980785 -0.19509 0 0 0 -4.51604"/>
-          <waypoint time="12.0" pose="-1 0 0 0 0 -4.71239"/>
-          <waypoint time="12.5" pose="-0.980785 0.19509 0 0 0 -4.90874"/>
-          <waypoint time="13.0" pose="-0.92388 0.382683 0 0 0 -5.10509"/>
-          <waypoint time="13.5" pose="-0.83147 0.55557 0 0 0 -5.30144"/>
-          <waypoint time="14.0" pose="-0.707107 0.707107 0 0 0 -5.49779"/>
-          <waypoint time="14.5" pose="-0.55557 0.83147 0 0 0 -5.69414"/>
-          <waypoint time="15.0" pose="-0.382683 0.92388 0 0 0 -5.89049"/>
-          <waypoint time="15.5" pose="-0.19509 0.980785 0 0 0 -6.08684"/>
-        </trajectory>
-        
-      </script>
-    
-    </actor>
-
-
 </world>
 </gazebo>



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