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- <width>1920</width>\r\n <height>1080</height>\r\n </image>\r\n
- <clip>\r\n <near>0.01</near>\r\n <far>100</far>\r\n </clip>\r\n
- </camera>\r\n <plugin filename=\"libgazebo_ros_camera.so\" name=\"arm_wide_angle_cam_camera_controller\">\r\n
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- <horizontal_fov>1.21125850088</horizontal_fov>\r\n <image>\r\n <format>B8G8R8</format>\r\n
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- <cameraName>arm_rgbd_cam</cameraName>\r\n <imageTopicName>color/image_raw</imageTopicName>\r\n
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- </plugin>\r\n </sensor>\r\n</gazebo>"
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- <alwaysOn>true</alwaysOn>\r\n <updateRate>9</updateRate>\r\n <cameraName>arm_thermal_cam</cameraName>\r\n
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- PluginText: "<gazebo reference=\"camera360_left_link\">\r\n <sensor name=\"camera360_left_camera_sensor\"
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- <!--<horizontal_fov>${hfov * M_PI/180.0}</horizontal_fov>-->\r\n <horizontal_fov>3.14</horizontal_fov>\r\n
- <image>\r\n <format>R8G8B8</format>\r\n <width>1504</width>\r\n
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- <far>100</far>\r\n </clip>\r\n <lens>\r\n <!--\r\n
- Crashes gazebo on some machines, so revert for now\r\n <type>custom</type>\r\n
- <custom_function>\r\n <c1>2</c1>\r\n <c2>2</c2>\r\n
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- </lens>\r\n </camera>\r\n <plugin filename=\"libgazebo_ros_camera.so\"
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- <imageTopicName>image_raw</imageTopicName>\r\n <cameraInfoTopicName>not_used</cameraInfoTopicName>\r\n
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- <!--<horizontal_fov>${hfov * M_PI/180.0}</horizontal_fov>-->\r\n <horizontal_fov>3.14</horizontal_fov>\r\n
- <image>\r\n <format>R8G8B8</format>\r\n <width>1504</width>\r\n
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- <far>100</far>\r\n </clip>\r\n <lens>\r\n <!--\r\n
- Crashes gazebo on some machines, so revert for now\r\n <type>custom</type>\r\n
- <custom_function>\r\n <c1>2</c1>\r\n <c2>2</c2>\r\n
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- <cutoff_angle>1.5707</cutoff_angle>\r\n <env_texture_size>512</env_texture_size>\r\n
- </lens>\r\n </camera>\r\n <plugin filename=\"libgazebo_ros_camera.so\"
- name=\"camera360_right_camera_controller\">\r\n <cameraName>camera360/right</cameraName>\r\n
- <imageTopicName>image_raw</imageTopicName>\r\n <cameraInfoTopicName>not_used</cameraInfoTopicName>\r\n
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- PluginText: "<gazebo>\r\n <!-- ros_control plugin -->\r\n <plugin filename=\"libgazebo_ros_control_select_joints.so\"
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- <type>transmission_interface/SimpleTransmission</type>\r\n <joint name=\"spin_lidar_spin_joint\">\r\n
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\r\n
- </joint>\r\n <actuator name=\"spin_lidar_spin_joint_joint_motor\">\r\n <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\r\n
- <mechanicalReduction>1</mechanicalReduction>\r\n </actuator>\r\n</transmission>"
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- PluginText: "<gazebo reference=\"spin_lidar_laser_frame\">\r\n <sensor name=\"spin_lidar_laser-VLP16\"
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- <update_rate>10</update_rate>\r\n <ray>\r\n <scan>\r\n <horizontal>\r\n
- <samples>512</samples>\r\n <resolution>1</resolution>\r\n <min_angle>-3.14159265359</min_angle>\r\n
- <max_angle>3.14159265359</max_angle>\r\n </horizontal>\r\n <vertical>\r\n
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- <max_range>100</max_range>\r\n <gaussianNoise>0.008</gaussianNoise>\r\n
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- PluginText: "<gazebo reference=\"realsense_d435_back_link\">\r\n <sensor name=\"realsense_d435_back\"
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- <horizontal_fov>1.21125850088</horizontal_fov>\r\n <image>\r\n <format>B8G8R8</format>\r\n
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- </camera>\r\n <plugin filename=\"libgazebo_ros_openni_kinect.so\" name=\"realsense_d435_back_camera_controller\">\r\n
- <cameraName>realsense_d435_back</cameraName>\r\n <imageTopicName>color/image_raw</imageTopicName>\r\n
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- <pointCloudTopicName>depth/points</pointCloudTopicName>\r\n <frameName>realsense_d435_back_color_optical_frame</frameName>\r\n
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- --- !u!114 &970183502
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- PluginText: "<transmission name=\"gripper_joint_joint_transmission\">\r\n <type>transmission_interface/SimpleTransmission</type>\r\n
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