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- <?xml version="1.0"?>
- <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="headlight">
- <xacro:macro name="headlight" params="parent headlight_prefix xyz rpy">
- <gazebo>
- <model name="${headlight_prefix}_headlight">
- <pose>${xyz} ${rpy}</pose>
- <link name="body">
- <pose>0.0 0 0 0 0 0</pose>
- <light name="light_source" type="spot">
- <!--<pose>-0.025 0 0.0 0 1.573 0</pose>-->
- <pose>0.0 0 0.0 0 -1.573 0</pose>
- <attenuation>
- <range>25</range>
- <linear>0.3</linear>
- <constant>0.1</constant>
- <quadratic>0.04</quadratic>
- </attenuation>
- <diffuse>0.4 0.4 0.4 1</diffuse>
- <specular>0.01 0.01 0.01 1</specular>
- <spot>
- <inner_angle>0.8</inner_angle>
- <outer_angle>1.9</outer_angle>
- <falloff>1</falloff>
- </spot>
- <direction>0 0 -1</direction>
- </light>
-
- <inertial>
- <mass>0.00001</mass>
- <inertia>
- <ixx>0.00000001</ixx>
- <iyy>0.00000001</iyy>
- <izz>0.00000001</izz>
- </inertia>
- </inertial>
- <visual name="light_source_visual">
- <geometry>
- <!--<box size="10.001 0.001 0.001"/>-->
- <sphere>
- <radius>0.01</radius>
- </sphere>
- </geometry>
- <transparency>1</transparency>
- <material>
- <ambient>1 1 1 1</ambient>
- <diffuse>1 1 1 1</diffuse>
- <specular>1 1 1 1</specular>
- <emissive>0 0 0 1</emissive>
- </material>
- <plugin name='light_source_visualize' filename='libLightVisualPlugin.so'>
- <light>
- <id>light_source</id>
- <visualize>false</visualize>
- </light>
- </plugin>
- </visual>
- </link>
- <plugin name='light_control' filename='libRosFlashLightPlugin.so'>
- <service_name>enable</service_name>
- <light>
- <id>body/light_source</id>
- <enable>true</enable>
- <duration>1</duration>
- <interval>0</interval>
- <color>1 1 1</color>
- </light>
- </plugin>
- </model>
- </gazebo>
- <gazebo>
- <joint name="${headlight_prefix}_headlight" type="fixed">
- <parent>${parent}</parent>
- <child>${headlight_prefix}_headlight::body</child>
- </joint>
- </gazebo>
- </xacro:macro>
- </robot>
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