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Absolem: Added sensor configs 6, 7 and 8.
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‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch

+66-30
Original file line numberDiff line numberDiff line change
@@ -9,6 +9,8 @@
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<arg name="revision" default="2014" />
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<arg name="has_cliff_sensors" default="0" />
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<arg name="has_thermal_camera" default="0" />
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<arg name="has_omnicam" default="1" />
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<arg name="has_omnicam_vras" default="0" />
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<include file="$(dirname)/description.launch" pass_all_args="true">
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<arg name="print_command" value="$(arg description_print_command)" if="$(eval description_print_command != '')" />
@@ -111,41 +113,75 @@
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<!-- Omnicamera -->
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_0" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0" />
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<arg name="ros_topic" value="omni/camera_0" />
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</include>
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<group if="$(arg has_omnicam)">
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_0" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0" />
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<arg name="ros_topic" value="omni/camera_0" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_1" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1" />
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<arg name="ros_topic" value="omni/camera_1" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_1" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1" />
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<arg name="ros_topic" value="omni/camera_1" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_2" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2" />
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<arg name="ros_topic" value="omni/camera_2" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_2" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2" />
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<arg name="ros_topic" value="omni/camera_2" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_3" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3" />
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<arg name="ros_topic" value="omni/camera_3" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_3" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3" />
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<arg name="ros_topic" value="omni/camera_3" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_4" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4" />
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<arg name="ros_topic" value="omni/camera_4" />
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</include>
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_4" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4" />
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<arg name="ros_topic" value="omni/camera_4" />
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</include>
143146

144-
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_5" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5" />
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<arg name="ros_topic" value="omni/camera_5" />
148-
</include>
147+
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_5" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5" />
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<arg name="ros_topic" value="omni/camera_5" />
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</include>
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</group>
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<group if="$(arg has_omnicam_vras)">
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<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_vras_front" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/camera_0/sensor/camera_0" />
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<arg name="ros_topic" value="omni/camera_0" />
159+
</include>
160+
161+
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
162+
<arg name="node_name_suffix" value="omnicam_vras_right" />
163+
<arg name="gazebo_topic" value="$(arg link_prefix)/camera_1/sensor/camera_1" />
164+
<arg name="ros_topic" value="omni/camera_1" />
165+
</include>
166+
167+
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
168+
<arg name="node_name_suffix" value="omnicam_vras_rear" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/camera_2/sensor/camera_2" />
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<arg name="ros_topic" value="omni/camera_2" />
171+
</include>
172+
173+
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
174+
<arg name="node_name_suffix" value="omnicam_vras_left" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/camera_3/sensor/camera_3" />
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<arg name="ros_topic" value="omni/camera_3" />
177+
</include>
178+
179+
<include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
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<arg name="node_name_suffix" value="omnicam_vras_up" />
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<arg name="gazebo_topic" value="$(arg link_prefix)/camera_4/sensor/camera_4" />
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<arg name="ros_topic" value="omni/camera_4" />
183+
</include>
184+
</group>
149185

150186
<!-- Thermal camera (if used) -->
151187
<include if="$(arg has_thermal_camera)" file="$(find subt_ros)/launch/models_common/thermal_camera.launch">

‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae

+96
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‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae

+155
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‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro

+111
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,111 @@
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<?xml version="1.0"?>
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<root xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Mass properties from datasheet -->
4+
<xacro:property name="basler_ace_mass" value="0.09" scope="global" />
5+
<xacro:property name="basler_ace2_pro_mass" value="0.105" scope="global" />
6+
<xacro:property name="fisheye_lens_mass" value="0.05" scope="global" />
7+
<xacro:property name="omnicam_lens_mass" value="0.127" scope="global" />
8+
<xacro:property name="c_mount_flange_distance" value="0.017526" scope="global" />
9+
<xacro:property name="c_mount_radius" value="${0.025/2}" scope="global" />
10+
11+
<xacro:macro name="basler_ace_base" params="name hfov_deg frame_rate resolution_x resolution_y fisheye:=0 camera_length origin_to_camera_front_dist camera_mass camera_mesh lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
12+
<xacro:property name="camera_width" value="0.029"/>
13+
<xacro:property name="camera_height" value="0.029"/>
14+
15+
<xacro:property name="sensor_chip_pos" value="${origin_to_camera_front_dist - c_mount_flange_distance}" />
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<xacro:property name="lens_back_pos" value="${sensor_chip_pos + lens_back_focal_distance}" />
17+
18+
<link name="$(arg prefix)${name}">
19+
<visual>
20+
<origin xyz="0 0 ${camera_height/2}" rpy="0 0 0" />
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<geometry>
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<!-- The origin of the mesh is center above tripod screw -->
23+
<mesh filename="${camera_mesh}"/>
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</geometry>
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</visual>
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<visual>
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<!-- The origin of the mesh is at the back of the lens -->
28+
<origin xyz="${lens_back_pos} 0 ${camera_height/2}" rpy="0 0 0" />
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<geometry>
30+
<mesh filename="${lens_mesh}"/>
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</geometry>
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</visual>
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<collision name="${name}_collision">
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<origin rpy="0 0 0" xyz="${origin_to_camera_front_dist - camera_length/2} 0 ${camera_height/2}"/>
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<geometry>
36+
<box size="${camera_length} ${camera_width} ${camera_height}" />
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</geometry>
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</collision>
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<collision name="${name}_lens_collision">
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<origin rpy="0 ${pi/2} 0" xyz="${lens_back_pos + lens_length/2} 0 ${camera_height/2}"/>
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<geometry>
42+
<cylinder length="${lens_length}" radius="${c_mount_radius}" />
43+
</geometry>
44+
</collision>
45+
<xacro:box_inertial mass="${camera_mass + lens_mass}"
46+
width="${camera_width}" height="${camera_height}" depth="${camera_length + lens_length - (c_mount_flange_distance - lens_back_focal_distance)}"
47+
xyz="${origin_to_camera_front_dist + (lens_length - (c_mount_flange_distance - lens_back_focal_distance))/2 - camera_length/2} 0 ${camera_height/2}" />
48+
</link>
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<xacro:if value="${simulate}">
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<gazebo reference="$(arg prefix)${name}">
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<!-- Workaround for https://github.com/ignitionrobotics/ign-sensors/issues/24 -->
52+
<xacro:if value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
53+
<xacro:property name="cam_type" value="camera"/>
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</xacro:if>
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<xacro:unless value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
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<xacro:property name="cam_type" value="wideanglecamera"/>
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</xacro:unless>
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<sensor name="${name}" type="${cam_type}">
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<!-- I think the simulated sensor should be placed in the middle of the entrance pupil. -->
60+
<xacro:property name="virtual_lens_origin" value="${lens_back_pos + lens_length - lens_entrance_pupil_position}" />
61+
<pose>${virtual_lens_origin} 0 ${camera_height/2} 0 0 0</pose>
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<update_rate>${frame_rate}</update_rate>
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<visualize>${visualize}</visualize>
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<camera>
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<horizontal_fov>${radians(hfov_deg)}</horizontal_fov>
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<image>
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<width>${resolution_x}</width>
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<height>${resolution_y}</height>
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<format>R8G8B8</format>
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</image>
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<clip>
72+
<xacro:property name="clip" value="${lens_entrance_pupil_position * 1.1 if near_clip == -1 else near_clip}" />
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<near>${clip}</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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<xacro:if value="${fisheye and '$(arg rendering_target)' == 'gz'}">
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<lens>
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<type>stereographic</type>
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<scale_to_hfov>true</scale_to_hfov>
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<cutoff_angle>${pi}</cutoff_angle>
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<env_texture_size>1024</env_texture_size>
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</lens>
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</xacro:if>
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</camera>
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</sensor>
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</gazebo>
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</xacro:if>
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</xacro:macro>
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<xacro:macro name="basler_ace2_pro_link" params="name hfov_deg fisheye:=0 lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
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<xacro:basler_ace_base name="${name}" hfov_deg="${hfov_deg}" frame_rate="9" resolution_x="1920" resolution_y="1200"
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fisheye="${fisheye}" simulate="${simulate}" visualize="${visualize}"
98+
camera_length="0.0555" origin_to_camera_front_dist="0.0524" camera_mass="${basler_ace2_pro_mass}"
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camera_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae"
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lens_length="${lens_length}" lens_back_focal_distance="${lens_back_focal_distance}"
101+
lens_entrance_pupil_position="${lens_entrance_pupil_position}" lens_mass="${lens_mass}" lens_mesh="${lens_mesh}"
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near_clip="${near_clip}"
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/>
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</xacro:macro>
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<xacro:macro name="basler_ace_omnicam" params="name simulate:=1 visualize:=0">
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<xacro:basler_ace2_pro_link name="${name}" hfov_deg="86.5" simulate="${simulate}" visualize="${visualize}"
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lens_back_focal_distance="0.00809" lens_entrance_pupil_position="0.01066" lens_length="0.03974" lens_mass="${omnicam_lens_mass}"
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lens_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae" />
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</xacro:macro>
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</root>

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