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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
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- <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
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- </lens>\r\n </camera>\r\n <plugin filename=\"libgazebo_ros_camera.so\" name=\"camera360_right_camera_controller\">\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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- <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
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- <max_range>100</max_range>\r\n <gaussianNoise>0.008</gaussianNoise>\r\n </plugin>\r\n
- \ </sensor>\r\n</gazebo>"
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- PluginText: "<gazebo reference=\"realsense_d435_back_link\">\r\n <sensor name=\"realsense_d435_back\"
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- \ <imageTopicName>color/image_raw</imageTopicName>\r\n <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>\r\n
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- <mechanicalReduction>1</mechanicalReduction>\r\n </actuator>\r\n</transmission>"
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