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Signed-off-by: Louise Poubel <[email protected]>
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<?xml version="1.0" ?> | ||
<!-- | ||
Ignition Gazebo Model Photo Shoot plugin demo | ||
This will take perspective, top, front, and both sides pictures of the model: | ||
ign gazebo -s -r -v 4 \-\-iterations 50 model_photo_shoot.sdf | ||
--> | ||
<sdf version="1.6"> | ||
<world name="default"> | ||
<gravity>0 0 0</gravity> | ||
<plugin | ||
filename="ignition-gazebo-physics-system" | ||
name="ignition::gazebo::systems::Physics"> | ||
</plugin> | ||
<plugin | ||
filename="ignition-gazebo-sensors-system" | ||
name="ignition::gazebo::systems::Sensors"> | ||
<render_engine>ogre2</render_engine> | ||
<background_color>1, 1, 1</background_color> | ||
</plugin> | ||
<include> | ||
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Robonaut</uri> | ||
<plugin | ||
filename="ignition-gazebo-model-photo-shoot-system" | ||
name="ignition::gazebo::systems::ModelPhotoShoot"> | ||
<translation_data_file>poses.txt</translation_data_file> | ||
<random_joints_pose>false</random_joints_pose> | ||
</plugin> | ||
</include> | ||
<model name="photo_shoot"> | ||
<link name="link"> | ||
<pose>0 0 0 0 0 0</pose> | ||
<sensor name="camera" type="camera"> | ||
<camera> | ||
<horizontal_fov>1.047</horizontal_fov> | ||
<image> | ||
<width>960</width> | ||
<height>540</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>camera</topic> | ||
</sensor> | ||
</link> | ||
<static>true</static> | ||
</model> | ||
</world> | ||
</sdf> |
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/* | ||
* Copyright (C) 2022 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
#ifndef IGNITION_GAZEBO_COMPONENTS_WHEELSLIPCMD_HH_ | ||
#define IGNITION_GAZEBO_COMPONENTS_WHEELSLIPCMD_HH_ | ||
|
||
#include <ignition/gazebo/config.hh> | ||
#include <ignition/gazebo/Export.hh> | ||
#include <ignition/gazebo/components/Component.hh> | ||
#include <ignition/gazebo/components/Factory.hh> | ||
#include <ignition/gazebo/components/Serialization.hh> | ||
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||
#include <ignition/msgs/wheel_slip_parameters_cmd.pb.h> | ||
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||
namespace ignition | ||
{ | ||
namespace gazebo | ||
{ | ||
// Inline bracket to help doxygen filtering. | ||
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { | ||
namespace components | ||
{ | ||
/// \brief A component type that contains commanded wheel slip parameters of | ||
/// an entity in the world frame represented by msgs::WheelSlipParameters. | ||
using WheelSlipCmd = Component<ignition::msgs::WheelSlipParametersCmd, | ||
class WheelSlipCmdTag, serializers::MsgSerializer>; | ||
IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.WheelSlipCmd", | ||
WheelSlipCmd) | ||
} | ||
} | ||
} | ||
} | ||
#endif |
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gz_add_system(model-photo-shoot | ||
SOURCES | ||
ModelPhotoShoot.cc | ||
PUBLIC_LINK_LIBS | ||
ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} | ||
ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER} | ||
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER} | ||
) |
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