forked from xtdrone/XTDrone
89 lines
2.9 KiB
XML
89 lines
2.9 KiB
XML
<?xml version="1.0"?>
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<!--
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Author: Jonathan Sprinkle, Sam Taylor, Alex Warren, Rahul Bhadani
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Hannah Grace Mason, Joe Macinnes, Landon Chase Bentley
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Copyright (c) 2015-2018 Arizona Board of Regents
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All rights reserved.
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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Summary:
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This file includes gazebo reference for front stereo camera simulation mounted
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on the top of the car. For more information and for the tutorials used to create
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this file, see
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http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
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-->
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<robot>
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<!--triclops camera-->
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<gazebo reference="triclops_link">
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<mu1>0.6</mu1>
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<mu2>0.5</mu2>
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</gazebo>
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<gazebo reference="triclops_link">
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<sensor type="camera" name="triclops">
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<update_rate>16.0</update_rate>
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<camera name="triclops">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>752</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_triclops_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<robotNamespace>/$(arg roboname)</robotNamespace>
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<cameraName>triclops</cameraName>
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<imageTopicName>triclops/left/image</imageTopicName>
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<cameraInfoTopicName>camera_triclops_info</cameraInfoTopicName>
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<frameName>triclops_link</frameName>
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<hackBaseline>0.12</hackBaseline>
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<Fx>376.0</Fx>
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<Fy>376.0</Fy>
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<Cx>376.0</Cx>
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<Cy>240.0</Cy>
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<distortionK1>-0.2</distortionK1>
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<distortionK2>0.08</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>5e-5</distortionT1>
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<distortionT2>-1e-4</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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