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Fix Gazebo Classic plugin configs (#84)
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@lukeschmitt-tr
lukeschmitt-tr committed Feb 4, 2025
1 parent 1ec8938 commit d0b0edd
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41 changes: 20 additions & 21 deletions interbotix_ros_xslocobots/interbotix_xslocobot_descriptions/urdf/pan_and_tilt.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -235,27 +235,26 @@
<ros>
<namespace>/$(arg robot_name)</namespace>
</ros>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera</cameraName>
<imageTopicName>color/image_raw</imageTopicName>
<cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
<depthImageTopicName>aligned_depth_to_color/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>aligned_depth_to_color/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>depth_registered/points</pointCloudTopicName>
<frameName>${robot_name}/camera_depth_link</frameName>
<pointCloudCutoff>0.01</pointCloudCutoff>
<pointCloudCutoffMax>10</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>
<always_on>true</always_on>
<update_rate>0.0</update_rate>
<camera_name>camera</camera_name>
<image_topic_name>color/image_raw</image_topic_name>
<camera_info_topic_name>color/camera_info</camera_info_topic_name>
<depth_image_topic_name>aligned_depth_to_color/image_raw</depth_image_topic_name>
<depth_image_camera_info_topic_name>aligned_depth_to_color/camera_info</depth_image_camera_info_topic_name>
<point_cloud_topic_name>depth_registered/points</point_cloud_topic_name>
<frame_name>${robot_name}/camera_depth_link</frame_name>
<point_cloud_cutoff>0.01</point_cloud_cutoff>
<point_cloud_cutoff_max>10</point_cloud_cutoff_max>
<distortion_k1>0.00000001</distortion_k1>
<distortion_k2>0.00000001</distortion_k2>
<distortion_k3>0.00000001</distortion_k3>
<distortion_t1>0.00000001</distortion_t1>
<distortion_t2>0.00000001</distortion_t2>
<cx>0</cx>
<cy>0</cy>
<focal_length>0</focal_length>
<hack_baseline>0</hack_baseline>
</plugin>
</sensor>
</gazebo>
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