XTDrone/sitl_config/models/realsense_camera/realsense_camera.sdf

<?xml version="1.0"?>
<sdf version="1.6">
  <model name="realsense_camera">
    <pose frame="">0 0 0.015 0 0 0</pose>
    <link name="link">
      <inertial>
        <mass>0.0615752</mass>
        <inertia>
          <ixx>9.108e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2.51e-06</iyy>
          <iyz>0</iyz>
          <izz>8.931e-05</izz>
        </inertia>
        <pose frame=''>0 0 0 0 -0 0</pose>
      </inertial>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://realsense_camera/meshes/realsense_camera.dae</uri>
          </mesh>
        </geometry>
      </visual>

    <sensor name="imu_sensor" type="imu">
      <always_on>true</always_on>
      <parent>link</parent>
      <update_rate>500</update_rate>
      <visualize>true</visualize>
      <topic>imu_gazebo</topic>
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>imu_gazebo</topicName>
        <bodyName>imu_link_stereo</bodyName>
        <updateRateHZ>500.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>imu_link_stereo</frameName>

        <gyroscopeNoiseDensity>0.0006</gyroscopeNoiseDensity>
        <gyroscopeRandomWalk>0.000003</gyroscopeRandomWalk>
        <gyroscopeTurnOnBiasSigma>0.03</gyroscopeTurnOnBiasSigma>

        <accelerometerNoiseDensity>0.002</accelerometerNoiseDensity>
        <accelerometerRandomWalk>0.00002</accelerometerRandomWalk>
        <accelerometerTurnOnBiasSigma>0.1</accelerometerTurnOnBiasSigma>

      </plugin>
      <pose>0 0 0.3 0 0 0</pose>
    </sensor>

      <sensor name="stereo" type="multicamera">
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>false</visualize>
        <camera name="left">
          <pose>0 0.06 0 0 0 0</pose>
          <horizontal_fov>1.5708</horizontal_fov>
          <image>
            <width>752</width>
            <height>480</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>300</far>
          </clip>
        </camera>
        <camera name="right">
          <pose>0 -0.06 0 0 0 0</pose>
          <horizontal_fov>1.5708</horizontal_fov>
          <image>
            <width>752</width>
            <height>480</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>300</far>
          </clip>
        </camera>
        <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
          <robotNamespace></robotNamespace>
          <alwaysOn>true</alwaysOn>
          <updateRate>30</updateRate>
          <cameraName>/stereo_camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>stereo_camera_frame</frameName>
          <hackBaseline>0.12</hackBaseline>
          <Fx>376.0</Fx>
          <Fy>376.0</Fy>
          <Cx>376.0</Cx>
          <Cy>240.0</Cy>
          <distortionK1>-0.1</distortionK1>
          <distortionK2>0.01</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>5e-5</distortionT1>
          <distortionT2>-1e-4</distortionT2>
        </plugin>
      </sensor>

      <sensor name="depth" type="depth">
        <update_rate>20</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="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
          <robotNamespace></robotNamespace>
          <baseline>0.2</baseline>
          <alwaysOn>true</alwaysOn>
          <updateRate>1.0</updateRate>
          <cameraName>realsense/depth_camera</cameraName>
          <imageTopicName>color/image_raw</imageTopicName>
          <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <depthImageInfoTopicName>depth/camera_info</depthImageInfoTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <frameName>depth_camera_base</frameName>
          <pointCloudCutoff>0.05</pointCloudCutoff>
          <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
          <distortionK1>0.00000001</distortionK1>
          <distortionK2>0.00000001</distortionK2>
          <distortionK3>0.00000001</distortionK3>
          <distortionT1>0.00000001</distortionT1>
          <distortionT2>0.00000001</distortionT2>
          <CxPrime>0</CxPrime>
          <Cx>0</Cx>
          <Cy>0</Cy>
          <focalLength>0</focalLength>
          <hackBaseline>0</hackBaseline>
        </plugin>
      </sensor>
    </link>
  </model>
</sdf>