<xacro:macro name="underwater_camera" params="namespace parent_link suffix *origin">
<xacro:underwater_camera_plugin_macro
namespace="${namespace}"
suffix="${suffix}"
parent_link="${parent_link}"
topic="camera"
mass="0.1"
update_rate="30"
hfov="1.5125"
width="768"
height="492"
stddev="0.02">
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
<xacro:insert_block name="origin" />
</xacro:underwater_camera_plugin_macro>
</xacro:macro>
<xacro:underwater_camera namespace="${namespace}" parent_link="base_link" suffix="">
<origin xyz="0 0.05 0" rpy="0 0 0"/>
</xacro:underwater_camera>
This block of code only spawns the underwater_camera_plugin_macro link according to the code below
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<link name="${namespace}/camera${suffix}_link"> |
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<inertial> |
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<xacro:insert_block name="inertia" /> |
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<mass value="${mass}" /> |
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<origin xyz="0 0 0" rpy="0 0 0" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="file://$(find uuv_sensor_ros_plugins)/meshes/oe14-372.dae" scale="1 1 1"/> |
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</geometry> |
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</visual> |
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<xacro:no_collision/> |
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</link> |
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<joint name="${namespace}/camera${suffix}_joint" type="revolute"> |
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<xacro:insert_block name="origin" /> |
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<parent link="${parent_link}" /> |
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<child link="${namespace}/camera${suffix}_link" /> |
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<axis xyz="1 0 0"/> |
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<limit upper="0" lower="0" effort="0" velocity="0" /> |
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</joint> |
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<link name="${namespace}/camera${suffix}_link_optical"> |
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<xacro:box_inertial x="0.0001" y="0.0001" z="0.0001" mass="0.001"> |
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<origin xyz="0 0 0" rpy="0 0 0"/> |
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</xacro:box_inertial> |
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<collision> |
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<!-- todo: gazebo needs a collision volume or it will ignore the pose of |
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the joint that leads to this link (and assume it to be the identity) --> |
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<geometry> |
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<cylinder length="0.000001" radius="0.000001"/> |
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</geometry> |
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<origin xyz="0 0 0" rpy="0 ${0.5*pi} 0"/> |
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</collision> |
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</link> |
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<joint name="${namespace}/camera${suffix}_optical_joint" type="revolute"> |
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/> |
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<parent link="${namespace}/camera${suffix}_link"/> |
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<child link="${namespace}/camera${suffix}_link_optical"/> |
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<limit upper="0" lower="0" effort="0" velocity="0" /> |
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<axis xyz="1 0 0"/> |
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</joint> |
but fails to load the plugin part
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<gazebo reference="${namespace}/camera${suffix}_link"> |
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<sensor type="depth" name="camera${suffix}"> |
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<update_rate>${update_rate}</update_rate> |
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<camera name="camera${suffix}"> |
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<horizontal_fov>${hfov}</horizontal_fov> |
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<image> |
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<width>${width}</width> |
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<height>${height}</height> |
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<format>R8G8B8</format> |
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</image> |
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<clip> |
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<near>0.1</near> |
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<far>3000</far> |
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</clip> |
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<noise> |
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<type>gaussian</type> |
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<mean>0.0</mean> |
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<stddev>${stddev}</stddev> |
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</noise> |
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</camera> |
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<plugin name="camera${suffix}_controller" filename="libuuv_gazebo_ros_camera_plugin.so"> |
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<updateRate>${update_rate}</updateRate> |
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<cameraName>${namespace}/camera${suffix}</cameraName> |
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<frameName>${namespace}/camera${suffix}_link</frameName> |
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<attenuationR>0.01</attenuationR> |
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<attenuationG>0.01</attenuationG> |
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<attenuationB>0.003</attenuationB> |
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<backgroundR>0</backgroundR> |
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<backgroundG>0</backgroundG> |
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<backgroundB>0</backgroundB> |
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<!-- required for ros depth cam --> |
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<imageTopicName>${topic}_image</imageTopicName> |
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<pointCloudTopicName>${topic}_cloud</pointCloudTopicName> |
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<depthImageTopicName>${topic}_depth</depthImageTopicName> |
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<depthImageCameraInfoTopicName>${topic}_depth_info</depthImageCameraInfoTopicName> |
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<pointCloudCutoff>10.0</pointCloudCutoff> |
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</plugin> |
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</sensor> |
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</gazebo> |
due to which there is no topics related to depth is visible when launched with a robot model.
