Using Gazebo plugins with ROS

Camera

Rrbot 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 "iz z= "1e-6"/>    </inertial>  </link>

rrbot.gazebo

 <!--camera--<gazebo reference= "Camera_link" > <sensor type= "Camera" name= "Camera1" > <upd Ate_rate>30.0</update_rate> <camera name= "Head" > 

Using Gazebo plugins with ROS