quadrotor.gazebo.xacro

<?xml version="1.0"?>
<robot
    xmlns:xacro="http://www.ros.org/wiki/xacro" name="quadrotor" >

  <xacro:arg name="robot_name" default="multirotor" />

  <!-- robot urdf -->
  <xacro:include filename="$(find agile_multirotor)/urdf/quadrotor.urdf.xacro" />

  <!-- gazebo plugin for default controller and sensors -->
  <xacro:include filename="$(find aerial_robot_simulation)/xacro/spinal.gazebo.xacro" />
  <xacro:gazebo_spinal robot_name="$(arg robot_name)" />

  <gazebo reference="main_body">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <material>Gazebo/Red</material>
  </gazebo>

  <gazebo reference="thrust1">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="thrust2">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="thrust3">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="thrust4">
    <material>Gazebo/Black</material>
  </gazebo>

  <!-- sensors -->
  <!-- 1. stereo camera: depth, color camera -->
  <xacro:extra_module name = "rgbd_camera_frame" parent = "main_body">
    <origin xyz="0.13 0.0 0.0" rpy="0 0 0"/>
    <inertial>
      <mass value = "0.00001" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia
          ixx="0.000001" ixy="0.0" ixz="0.0"
          iyy="0.000001" iyz="0.0"
          izz="0.000002"/>
    </inertial>
  </xacro:extra_module>
  <xacro:extra_module name = "rgbd_camera_optical_frame" parent = "rgbd_camera_frame">
    <origin xyz="0 0 0" rpy="${-pi / 2} 0 ${-pi / 2}"/>
    <inertial>
      <mass value = "0.00001" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia
          ixx="0.000001" ixy="0.0" ixz="0.0"
          iyy="0.000001" iyz="0.0"
          izz="0.000002"/>
    </inertial>
  </xacro:extra_module>

  <!-- gazebo plugin -->
  <gazebo reference="rgbd_camera_frame">
    <sensor type="depth" name="rgbd_depth_camera">
      <update_rate>20.0</update_rate>
      <camera name="head">
        <horizontal_fov>1.57</horizontal_fov>
        <image>
          <width>1280</width>
          <height>720</height>
          <format>RGB</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin name="depth_camera" filename="libgazebo_ros_openni_kinect.so">
        <robotNamespace>$(arg robot_name)</robotNamespace>
        <baseline>0.06</baseline>
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>rgbd</cameraName>
        <imageTopicName>rgb/image_rect_color</imageTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageTopicName>depth/depth_registered</depthImageTopicName>
        <depthImageInfoTopicName>depth/camera_info</depthImageInfoTopicName>
        <pointCloudTopicName>point_cloud/cloud_registered</pointCloudTopicName>
        <frameName>rgbd_camera_optical_frame</frameName>
        <pointCloudCutoff>0.05</pointCloudCutoff>
        <pointCloudCutoffMax>10.0</pointCloudCutoffMax>
        <distortionK1>0</distortionK1>
        <distortionK2>0</distortionK2>
        <distortionK3>0</distortionK3>
        <distortionT1>0</distortionT1>
        <distortionT2>0</distortionT2>
        <CxPrime>0</CxPrime>
        <Cx>0</Cx>
        <Cy>0</Cy>
        <focalLength>0</focalLength>
        <hackBaseline>0</hackBaseline>
      </plugin>
    </sensor>
  </gazebo>

</robot>