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Updated demo world with thermal camera
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@luca-della-vedova
luca-della-vedova committed Apr 3, 2020
1 parent 64a87bd commit 848b27b
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57 changes: 57 additions & 0 deletions examples/worlds/sensors_demo.sdf
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Original file line number Diff line number Diff line change
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<topic>rgbd_camera/depth_image</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 5">
<ignition-gui>
<title>Thermal camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="y">800</property>
</ignition-gui>
<topic>thermal_camera</topic>
<topic_picker>false</topic_picker>
</plugin>
</gui>

<light type="directional" name="sun">
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</link>
</model>

<model name="thermal_camera">
<pose>3 0 0.5 0 0.0 3.14</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="thermal_camera" type="thermal_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>thermal_camera</topic>
</sensor>
</link>
</model>


<include>
<pose>0 1 3 0.0 0.0 1.57</pose>
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