stereo_camera.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:macro name="stereo_camera"
    params="reference ns frame_id update_rate baseline hfov width height format near far">

    <gazebo reference="${reference}">
      <sensor type="multicamera" name="stereo_camera">
        <update_rate>${update_rate}</update_rate>
        <camera name="left">
          <pose>0 0 0 0 -1.5707 1.5707</pose>
          <horizontal_fov>${hfov}</horizontal_fov>
          <image>
            <width>${width}</width>
            <height>${height}</height>
            <format>${format}</format>
          </image>
          <clip>
            <near>${near}</near>
            <far>${far}</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <camera name="right">
          <pose>${baseline} 0 0 0 -1.5707 1.5707</pose>
          <horizontal_fov>${hfov}</horizontal_fov>
          <image>
            <width>${width}</width>
            <height>${height}</height>
            <format>${format}</format>
          </image>
          <clip>
            <near>${near}</near>
            <far>${far}</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
          <alwaysOn>true</alwaysOn>
          <cameraName>${ns}/camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>${frame_id}</frameName>
          <hackBaseline>${baseline}</hackBaseline>
          <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
          <!-- NOTE: Distortion is currently unused -->
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>

</robot>