From 7e9f0908e8bc63aa794423e6505ec603caa94e17 Mon Sep 17 00:00:00 2001
From: Brett Graham <brettgraham@gmail.com>
Date: Sun, 5 Feb 2017 17:50:59 -0500
Subject: [PATCH] adding driver camera

---
 src/stompy_description/urdf/stompy.urdf.xacro | 76 +++++++++++++++++++
 1 file changed, 76 insertions(+)

diff --git a/src/stompy_description/urdf/stompy.urdf.xacro b/src/stompy_description/urdf/stompy.urdf.xacro
index e031c63..f19f160 100644
--- a/src/stompy_description/urdf/stompy.urdf.xacro
+++ b/src/stompy_description/urdf/stompy.urdf.xacro
@@ -44,6 +44,82 @@
     </visual>
   </link>
 
+  <gazebo reference="camera_link">
+    <material>Gazebo/Red</material>
+  </gazebo>
+
+  <joint name="camera_joint" type="fixed">
+    <axis xyz="0 1 0" />
+    <origin xyz="1.5 0.25 0.75" rpy="0 0 0"/>
+    <parent link="body_link"/>
+    <child link="camera_link"/>
+  </joint>
+
+  <link name="camera_link">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+    <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0. 0. 1.0"/>
+      </material>
+    </visual>
+
+    <inertial>
+      <mass value="1e-5" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+    </inertial>
+  </link>
+
+ <gazebo reference="camera_link">
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise is sampled independently per pixel on each frame.
+               That pixel's noise value is added to each of its color
+               channels, which at that point lie in the range [0,1]. -->
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>rrbot/camera1</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>camera_link</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
   <xacro:leg name="fl" rpy="0 0 0.9599" xyz="2.2352  0.5842   -0.1000"/>
   <xacro:leg name="fr" rpy="0 0 -0.9599" xyz="2.2352 -0.5842   -0.1000"/>
   <xacro:leg name="ml" rpy="0 0 1.5706" xyz="0.0  0.6858   -0.1000"/>