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Added New World Model and Realsense Camera Model #56

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odometry data added
serkanMzlm committed Aug 1, 2024
commit 69d396e1eaff5b3b03b06a124c8ec2e95c8783dd
7 changes: 6 additions & 1 deletion models/x500_realsense/model.sdf
Original file line number Diff line number Diff line change
@@ -13,5 +13,10 @@
<child>RealSense_D435i/base_link</child>
<pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
</joint>
<plugin
filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<dimensions>3</dimensions>
</plugin>
</model>
</sdf>
</sdf>
4 changes: 4 additions & 0 deletions worlds/default.sdf
Original file line number Diff line number Diff line change
@@ -212,6 +212,10 @@
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>

<include>
<uri>model://x500_realsense</uri>
</include>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>