modular_camera.urdf

<?xml version="1.0" ?>
<robot name="mod_camera" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="cwru_camera" params="parent image_topic info_topic:='' k1:=0 k2:=0 k3:=0 p1:=0 p2:=0 r_u:=500 r_v:=500 c_x:=250 c_y:=250 f_x:=1600 f_y:=1600 update_rate:=20">
	<link name="${parent}_camera_dot">
		<!--Every element needs an inertial for some reason...-->
		<inertial>
			<mass value="1e-5" />
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
		</inertial>
	</link>
	<joint name="${parent}_camera_dot_joint" type="fixed">
		<parent link="${parent}"/>
		<child link="${parent}_camera_dot"/>
		<!-- gazebo uses the x-axis of the camera frame as optical axis, which is annoying.-->
		<!-- However, with this phantom link and rotation, you will never have to worry about it.-->
		<origin 
			rpy="0 -1.5707 1.5707"
			xyz="0 0 0"
		/>
		<disableFixedJointLumping>true</disableFixedJointLumping>
	</joint>
	
	<gazebo reference="${parent}_camera_dot">
		<sensor type="camera" name="${parent}_camera">
			<update_rate>0</update_rate>
			<camera name="${parent}_camera">
				<horizontal_fov>1.0</horizontal_fov>
				<!--vertical_fov>1.0</vertical_fov-->
				<image>
					<width>${r_u}</width>
					<height>${r_v}</height>
					<format>R8G8B8</format>
				</image>
			</camera>
			<plugin name="${parent}_camera" filename="libcwru_ros_camera.so">
				<ImageTopicName>${image_topic}</ImageTopicName>
				<CITopicName>${info_topic}</CITopicName>
				<UpdateRate>${update_rate}</UpdateRate>
				<TransformName>${parent}</TransformName>
				
				<k1>${k1}</k1>
				<k2>${k2}</k2>
				<k3>${k3}</k3>
				<p1>${p1}</p1>
				<p2>${p2}</p2>
				
				<fx>${f_x}</fx>
				<fy>${f_y}</fy>
				<cx>${c_x}</cx>
				<cy>${c_y}</cy>
			</plugin>
		</sensor>
	</gazebo>
</xacro:macro></robot>