[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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