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add CameraRos to rmf_demos_assets, add humans and camera to hotel world #154

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add CameraRos to rmf_demos_assets, add humans and camera to hotel world #154

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16 changes: 16 additions & 0 deletions rmf_demos_assets/models/CameraRos/model.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
<?xml version="1.0"?>

<model>
<name>CameraRos</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>

<author>
<name>Nate Koenig</name>
<email>[email protected]</email>
</author>

<description>
A simple camera with a box for visualization.
</description>
</model>
60 changes: 60 additions & 0 deletions rmf_demos_assets/models/CameraRos/model.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,60 @@
<?xml version="1.0"?>

<sdf version="1.7">
<model name="CameraRos">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<static>true</static>

<link name="visual_link">
<pose>0.0 0.0 0.05 0.0 0.0 0.0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>2</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<lens>
<intrinsics>
<!-- it is up to the user to ensure that:
horizontal_fov = 2 * atan2( width, (2*fx) )
width = cx * 2
height = cy * 2 -->
<fx>205.4696</fx>
<fy>205.4696</fy>
<cx>320</cx>
<cy>240</cy>
</intrinsics>
</lens>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>15</update_rate>
<visualize>true</visualize>
</sensor>
</link>
<plugin
filename="ignition-gazebo-pose-publisher-system"
name="ignition::gazebo::systems::PosePublisher">
<publish_model_pose>true</publish_model_pose>
<publish_nested_model_pose>true</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
</plugin>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre</render_engine>
</plugin>
</model>
</sdf>
4 changes: 4 additions & 0 deletions rmf_demos_maps/maps/hotel/hotel.building.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -163,6 +163,10 @@ levels:
- {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 512.076, y: 712.3680000000001, yaw: 1.5708, z: 0}
- {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 537.609, y: 712.199, yaw: 1.5708, z: 0}
- {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 559.9299999999999, y: 712.876, yaw: 1.5708, z: 0}
- {model_name: OpenRobotics/Standing person, name: OpenRobotics/Standing person, static: true, x: 268.87, y: 597.53700000000003, yaw: 1.5979000000000001, z: 0}
- {model_name: OpenRobotics/Standing person, name: OpenRobotics/Standing person, static: true, x: 296.88099999999997, y: 565.24000000000001, yaw: -0.42659999999999998, z: 0}
- {model_name: OpenRobotics/Standing person, name: OpenRobotics/Standing person, static: true, x: 325.17700000000002, y: 596.39400000000001, yaw: -2.6819000000000002, z: 0}
- {model_name: OpenRobotics/CameraRos, name: camera1, static: true, x: 237.31299999999999, y: 717.54499999999996, yaw: 1, z: 2.2}
vertices:
- [127.862, 550.573, 0, ""]
- [127.1, 350.915, 0, ""]
Expand Down