regenerating pepper.urdf based on last changes

ros-naoqi · Mar 3, 2017 · d42886e · d42886e
1 parent 11e37bf
commit d42886e
Showing 1 changed file with 41 additions and 5 deletions.
diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf b/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf
@@ -2118,6 +2118,41 @@
       </plugin>
     </sensor>
   </gazebo>
+  <gazebo reference="CameraDepth_frame">
+    <sensor name="CameraDepth_frame_sensor" type="depth">
+      <always_on>true</always_on>
+      <update_rate>20.0</update_rate>
+      <camera>
+        <horizontal_fov>1.01229096616</horizontal_fov>
+        <image>
+          <format>B8G8R8</format>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.4</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="CameraDepth_frame_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>20.0</updateRate>
+        <cameraName>pepper_robot/camera</cameraName>
+        <imageTopicName>ir/image_raw</imageTopicName>
+        <cameraInfoTopicName>depth/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <pointCloudTopicName>depth/points</pointCloudTopicName>
+        <frameName>CameraDepth_optical_frame</frameName>
+        <pointCloudCutoff>0.4</pointCloudCutoff>
+        <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
+        <!-- <distortionK1>0.00000001</distortionK1>
+          <distortionK2>0.00000001</distortionK2>
+          <distortionK3>0.00000001</distortionK3>
+          <distortionT1>0.00000001</distortionT1>
+          <distortionT2>0.00000001</distortionT2> -->
+      </plugin>
+    </sensor>
+  </gazebo>
   <!-- 
     BUMPERS
 
@@ -2137,7 +2172,7 @@
       <collision>BumperB_frame_collision</collision>
     </contact>
     <plugin filename="libgazebo_ros_bumper.so" name="gazebo_pepper_BumperB">
-      <robotNamespace>pepper_robot</robotNamespace>
+      <robotNamespace>/pepper_robot</robotNamespace>
       <alwaysOn>true</alwaysOn>
       <bumperTopicName>Bumper/Back</bumperTopicName>
       <frameName>BumperB_frame</frameName>
@@ -2161,7 +2196,7 @@
       <collision>BumperFL_frame_collision</collision>
     </contact>
     <plugin filename="libgazebo_ros_bumper.so" name="gazebo_pepper_BumperFL">
-      <robotNamespace>pepper_robot</robotNamespace>
+      <robotNamespace>/pepper_robot</robotNamespace>
       <alwaysOn>true</alwaysOn>
       <bumperTopicName>Bumper/FrontLeft</bumperTopicName>
       <frameName>BumperFL_frame</frameName>
@@ -2185,7 +2220,7 @@
       <collision>BumperFR_frame_collision</collision>
     </contact>
     <plugin filename="libgazebo_ros_bumper.so" name="gazebo_pepper_BumperFR">
-      <robotNamespace>pepper_robot</robotNamespace>
+      <robotNamespace>/pepper_robot</robotNamespace>
       <alwaysOn>true</alwaysOn>
       <bumperTopicName>Bumper/FrontRight</bumperTopicName>
       <frameName>BumperFR_frame</frameName>
@@ -2224,7 +2259,7 @@
       </range>
     </ray>
     <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
-      <robotNamespace>pepper_robot</robotNamespace>
+      <robotNamespace>/pepper_robot</robotNamespace>
       <gaussianNoise>0.05</gaussianNoise>
       <alwaysOn>true</alwaysOn>
       <updateRate>20</updateRate>
@@ -2265,7 +2300,7 @@
       </range>
     </ray>
     <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
-      <robotNamespace>pepper_robot</robotNamespace>
+      <robotNamespace>/pepper_robot</robotNamespace>
       <gaussianNoise>0.05</gaussianNoise>
       <alwaysOn>true</alwaysOn>
       <updateRate>20</updateRate>
@@ -2279,6 +2314,7 @@
   </sensor>
 </gazebo> 
 -->
+  <!-- Drive controller -->
   <gazebo>
     <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
       <alwaysOn>true</alwaysOn>