CameraRRBot Example
rrbot.xacro
<joint name="camera_joint" type="fixed"><axis xyz="0 1 0" /><origin xyz="${camera_link} 0 ${height3 – axel_offset*2}" rpy="0 0 0"/><parent link="link3"/><child link="camera_link"/> </joint> <!– Camera –> <link name="camera_link"><collision><origin xyz="0 0 0" rpy="0 0 0"/><geometry><box size="${camera_link} ${camera_link} ${camera_link}"/></geometry></collision><visual><origin xyz="0 0 0" rpy="0 0 0"/><geometry><box size="${camera_link} ${camera_link} ${camera_link}"/></geometry><material name="red"/></visual><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>
rrbot.gazebo
<!– camera –> <gazebo reference="camera_link"><sensor type="camera" name="camera1"><update_rate>30.0</update_rate><camera name="head"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip><noise><type>gaussian</type><!– Noise is sampled independently per pixel on each frame.That pixel's noise value is added to each of its colorchannels, which at that point lie in the range [0,1]. –><mean>0.0</mean><stddev>0.007</stddev></noise></camera><plugin name="camera_controller" filename="libgazebo_ros_camera.so"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>rrbot/camera1</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera_link</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin></sensor> </gazebo>
，努力爱一个人。付出，不一定会有收获；
