From db5e4861a3bcf7e8b0c923e1251482185717a2e4 Mon Sep 17 00:00:00 2001
From: Timo Schneider <timoschneider04@gmail.com>
Date: Sat, 10 May 2025 19:53:33 +0200
Subject: [PATCH] forgot this

---
 src/sherpa/urdf/components/camera.xacro | 49 +++++++++++++++++++++++++
 1 file changed, 49 insertions(+)
 create mode 100644 src/sherpa/urdf/components/camera.xacro

diff --git a/src/sherpa/urdf/components/camera.xacro b/src/sherpa/urdf/components/camera.xacro
new file mode 100644
index 0000000..3fe1e5b
--- /dev/null
+++ b/src/sherpa/urdf/components/camera.xacro
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="camera" params="name parent xyz rpy frequency fov topic">
+
+        <link name="${name}_link">
+            <inertial>
+                <mass value="0.01"/>
+                <inertia 
+                    ixx="0.001"
+                    ixy="0.0"
+                    ixz="0.0"
+                    iyy="0.001"
+                    iyz="0.0"
+                    izz="0.001"
+                />
+            </inertial>
+        </link>
+        <joint name="${name}_joint" type="fixed">
+            <parent link="${parent}_link"/>
+            <child link="${name}_link"/>
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+        </joint>
+        <gazebo reference="${name}_link">
+            <sensor name="${name}" type="camera">
+                <update_rate>${frequency}</update_rate>
+                <topic>${topic}</topic>
+                <gz_frame_id>${name}_link</gz_frame_id>
+                <camera name="${name}">
+                    <horizontal_fov>${(fov/360) * (2*3.1415)}</horizontal_fov>
+                    <image>
+                        <width>800</width>
+                        <height>800</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.02</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+        </gazebo>
+    </xacro:macro>
+</robot>
\ No newline at end of file