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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> | ||
|
|
||
| #include <ignition/msgs/wheel_slip_parameters_cmd.pb.h> | ||
|
|
||
| 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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