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icub-model-generator commit:f82b2fcaf5608b4da6495cd5433f970d76b3d425 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:386e2c9c809d8d95e8e6c169cc23747de58ebae3
robotology · Nov 19, 2020 · 676cb8d · 676cb8d
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commit 676cb8d
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diff --git a/iCub/conf_icub3/gazebo_icub_depth_camera.ini b/iCub/conf_icub3/gazebo_icub_depth_camera.ini
@@ -0,0 +1,11 @@
+[include "gazebo_icub_robotname.ini"]
+
+device RGBDSensorWrapper
+period 30
+name /${gazeboYarpPluginsRobotName}/depthCamera
+
+[CAMERA_PARAM]
+focalLengthX 570.3422241210938
+focalLengthY 570.3422241210938
+tangentialPointX 0.0
+tangentialPointY 0.0
diff --git a/iCub/conf_icub3/gazebo_icub_rgb_camera.ini b/iCub/conf_icub3/gazebo_icub_rgb_camera.ini
@@ -0,0 +1,7 @@
+[include "gazebo_icub_robotname.ini"]
+
+device grabberDual
+subdevice gazebo_camera
+name /${gazeboYarpPluginsRobotName}/depthCamera_rgb/camera:o
+framerate 30
+stamp 1