Adds monocular camera (#20)

Signed-off-by: frederik <[email protected]>
PX4 · Dec 18, 2023 · 203077d · 203077d
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commit 203077d
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diff --git a/models/mono_cam/model.config b/models/mono_cam/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>mono_cam</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Markus Achtelik</name>
+    <email>[email protected]</email>
+  </author>
+  <description>Very simple monocular camera model</description>
+</model>
diff --git a/models/mono_cam/model.sdf b/models/mono_cam/model.sdf
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='mono_cam'>
+    <pose>0 0 0 0 0 0</pose>
+    <self_collide>false</self_collide>
+    <static>false</static>
+    <link name="mono_cam/base_link">
+      <inertial>
+        <pose>0.03 0.03 0.03 0 0 0</pose>
+        <mass>0.050</mass>
+        <inertia>
+          <ixx>0.00004</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00004</iyy>
+          <iyz>0</iyz>
+          <izz>0.00004</izz>
+        </inertia>
+      </inertial>
+      <sensor name="imager" type="camera">
+        <pose>0 0 0 0 0 0</pose>
+        <camera>
+          <horizontal_fov>1.74</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <visualize>true</visualize>
+        <topic>camera</topic>
+      </sensor>
+      <gravity>true</gravity>
+      <velocity_decay/>
+    </link>
+  </model>
+</sdf>
diff --git a/models/x500_mono_cam/model.config b/models/x500_mono_cam/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500_mono_cam</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Markus Achtelik, Frederik Markus</name>
+    <email>[email protected]</email>
+  </author>
+  <description>An x500 with a simple simple monocular camera.</description>
+</model>
diff --git a/models/x500_mono_cam/model.sdf b/models/x500_mono_cam/model.sdf
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500_mono_cam'>
+    <include merge='true'>
+      <uri>x500</uri>
+    </include>
+    <include merge='true'>
+      <uri>model://mono_cam</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>mono_cam/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>