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add birds eye camera to sim (#123)
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@melihokur17
melihokur17 authored Feb 17, 2025
1 parent 286c6e2 commit 64f5e3a
Showing 1 changed file with 54 additions and 0 deletions.
54 changes: 54 additions & 0 deletions auv_sim/auv_sim_description/auv_sim_description/worlds/pool.world
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Original file line number Diff line number Diff line change
Expand Up @@ -365,5 +365,59 @@
<kinematic>0</kinematic>
</link>
</model>
<!-- Pool overhead camera model -->
<model name="pool_camera">
<static>true</static>
<pose>0.3 -11 10 0 1.5708 0</pose>
<link name="pool_camera_link">
<pose>0 0 0 0 0 0</pose>
<visual name="camera_visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.1 0.1 0.1 1</diffuse>
</material>
</visual>
<sensor name="camera_sensor" type="camera">
<update_rate>30.0</update_rate>
<camera name="pool_camera">
<horizontal_fov>1.36136</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>B8G8R8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>pool_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>pool_camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</link>
</model>

</world>
</sdf>

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