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stereo cam model was created for x500_stereo_cam #42

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11 changes: 11 additions & 0 deletions models/stereo_cam/model.config
Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<model>
<name>stereo_cam</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Ömer Faruk Edemen</name>
<email>[email protected]</email>
</author>
<description>simple stereo camera model</description>
</model>
62 changes: 62 additions & 0 deletions models/stereo_cam/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='stereo_cam'>
<pose>0 0 0 0 0 0</pose>
<self_collide>false</self_collide>
<static>false</static>
<link name="stereo_cam/base_link">
<inertial>
<pose>0.03 0.03 0.03 0 0 0</pose>
<mass>0.050</mass>
<inertia>
<ixx>0.00004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00004</iyy>
<iyz>0</iyz>
<izz>0.00004</izz>
</inertia>
</inertial>
<sensor name="imager_left" type="camera">
<pose>0 0.0475 -0.1 0 0 0</pose>
<camera>
<horizontal_fov>1.51844</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>3000</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera/left</topic>
</sensor>

<sensor name="imager_right" type="camera">
<pose>0 -0.0475 -0.1 0 0 0</pose>
<camera>
<horizontal_fov>1.51844</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>3000</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera/right</topic>
</sensor>

<gravity>true</gravity>
<velocity_decay/>
</link>
</model>
</sdf>
11 changes: 11 additions & 0 deletions models/x500_stereo_cam/model.config
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<?xml version="1.0"?>
<model>
<name>x500_stereo_cam</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Ömer Faruk Edemen</name>
<email>[email protected]</email>
</author>
<description>An x500 with a stereo camera</description>
</model>
17 changes: 17 additions & 0 deletions models/x500_stereo_cam/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500_stereo_cam'>
<include merge='true'>
<uri>x500</uri>
</include>
<include merge='true'>
<uri>model://stereo_cam</uri>
<pose>.12 .0 .242 0 0 0</pose>
</include>
<joint name="CameraJoint" type="fixed">
<parent>base_link</parent>
<child>stereo_cam/base_link</child>
<pose relative_to="base_link">.12 .0 .242 0 0 0</pose>
</joint>
</model>
</sdf>
224 changes: 224 additions & 0 deletions worlds/ubp.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.9">
<world name="ubp">
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What is ubp? Is there a more descriptive name you can use?

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yeah it is not a clear name so i think campus might be suitable and descriptive for this world model

<physics type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
<render_engine>ogre2</render_engine>
</plugin>
<gui fullscreen="false">
<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
<camera_clip>
<near>0.25</near>
<far>25000</far>
</camera_clip>
</plugin>
<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="Spawn" name="Spawn Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin name="World control" filename="WorldControl">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">0</property>
<property type="bool" key="resizable">0</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<play_pause>1</play_pause>
<step>1</step>
<start_paused>1</start_paused>
</plugin>
<plugin name="World stats" filename="WorldStats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">0</property>
<property type="bool" key="resizable">0</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<sim_time>1</sim_time>
<real_time>1</real_time>
<real_time_factor>1</real_time_factor>
<iterations>1</iterations>
</plugin>
<plugin name="Entity tree" filename="EntityTree"/>
</gui>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type="adiabatic"/>
<scene>
<grid>false</grid>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>0.001 0.625 -0.78</direction>
<diffuse>0.904 0.904 0.904 1</diffuse>
<specular>0.271 0.271 0.271 1</specular>
<attenuation>
<range>2000</range>
<linear>0</linear>
<constant>1</constant>
<quadratic>0</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<include>
<pose>0 15 11 0 0 0</pose>
<uri>
https://fuel.gazebosim.org/1.0/beronaeron/models/upb 12
</uri>
</include>
<model name="textured_plane">
<static>true</static>
<link name="link">
<visual name="visual">
<pose>5 0 5 1.57 0 -1.57</pose>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>2 2</size>
</plane>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>file:///home/omer/Pictures/apriltag.png</albedo_map>
</metal>
</pbr>
</material>
</visual>
</link>
</model>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<world_frame_orientation>ENU</world_frame_orientation>
<latitude_deg>47.397971057728974</latitude_deg>
<longitude_deg> 8.546163739800146</longitude_deg>
<elevation>0</elevation>
</spherical_coordinates>
</world>
</sdf>