Ros Camera Plugin XML Reference and Example
[Gazebo ROS Dynamic Plugins]

Gazebo ROS Prosilica Camera Plugin Controller. More...

Collaboration diagram for Ros Camera Plugin XML Reference and Example:

Classes
class	gazebo::GazeboRosProsilica
	GazeboRosProsilica Controller. More...

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Detailed Description

Gazebo ROS Prosilica Camera Plugin Controller.

This is a controller that collects data from a simulated Prosilica camera sensor and makes image data available in the same manner prosilica_camera works. The controller:gazebo_ros_prosilica block must be inside of a sensor:camera block.

Example Usage:

    <sensor:camera name="prosilica_sensor">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>2448 2050</imageSize>
      <hfov>45</hfov>
      <nearClip>0.1</nearClip>
      <farClip>100</farClip>
      <updateRate>20.0</updateRate>
      <controller:gazebo_ros_prosilica name="prosilica_controller" plugin="libgazebo_ros_prosilica.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>20.0</updateRate>
        <imageTopicName>/prosilica/image_raw</imageTopicName>
        <cameraInfoTopicName>/prosilica/camera_info</cameraInfoTopicName>
        <pollServiceName>/prosilica/request_image</pollServiceName>
        <frameName>prosilica_frame</frameName>
        <CxPrime>1224.5</CxPrime>
        <Cx>1224.5</Cx>
        <Cy>1025.5</Cy>
        <focal_length>2955</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
        <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>
        <interface:camera name="prosilica_iface" />
      </controller:gazebo_ros_prosilica>
    </sensor:camera>