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Xu Shiyuan 2026-05-06 19:00:03 +08:00
parent ef86933950
commit bb03fc9370
2 changed files with 0 additions and 64 deletions
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57
src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
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@ -308,63 +308,6 @@
</geometry> </geometry>
</collision> </collision>
<pose>0.076 0 0.093 0 0 0</pose> <pose>0.076 0 0.093 0 0 0</pose>
<!-- Depth camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
Original plugin had: hack_baseline=0.07 (stereo baseline), min_depth=0.001
Note: hack_baseline is a Gazebo Classic plugin-specific param for stereo simulation;
Gz Sim uses raycasting rendering so it is NOT needed here.
Note: min_depth is replaced by <clip><near>=0.02 for minimum sensing distance. -->
<sensor name="intel_realsense_r200_depth" type="depth">
<always_on>1</always_on>
<update_rate>30</update_rate>
<pose>0.076 0.0 0.093 0 0 0</pose>
<camera name="realsense_depth_camera">
<image>
<width>640</width>
<height>480</height>
<!-- L16 format: encodes depth as 16-bit uint (pixel value = depth in mm)
This bypasses gz.msgs.DepthImage (unsupported in Humble ros_gz_bridge)
and outputs standard gz.msgs.Image that can be bridged directly. -->
<format>L16</format>
</image>
<clip>
<near>0.02</near>
<far>10</far>
</clip>
</camera>
<!-- Disable native DepthImage output to avoid topic conflict.
With this false, Gazebo only publishes /image (L16) instead of /depth_image
NOTE: <output_depth_image> removed — not valid SDF for Gz Sim Harmonic -->
</sensor>
<!-- RGB camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
Original plugin had: hack_baseline=0.07 (stereo baseline)
Note: Not applicable in Gz Sim native sensor (same reason as depth camera above). -->
<sensor name="intel_realsense_r200_rgb" type="camera">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>30</update_rate>
<pose>0.076 0.0 0.093 0 0 0</pose>
<camera name="realsense_rgb_camera">
<horizontal_fov>1.02974</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<!-- <width>1920</width> -->
<!-- <height>1080</height> -->
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
</sensor>
</link> </link>
<joint name="base_joint" type="fixed"> <joint name="base_joint" type="fixed">

7
src/turtlebot3_simulations/turtlebot3_gazebo/websocket.gzlaunch
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@ -1,7 +0,0 @@
<?xml version='1.0'?>
<gz version='1.0'>
<plugin name='gz::launch::WebsocketServer'
filename='gz-launch-websocket-server'>
<port>9002</port>
</plugin>
</gz>