roboticstoolbox-python 1.3.0__cp313-cp313-win_amd64.whl

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/double_stereo_camera.gazebo.xacro

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+<?xml version="1.0"?>
+
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Made by Kevin for double stereo camera for PR-2 Beta. -->
+  <!-- Needs calibration verification, and CAD check. -->
+  <xacro:macro name="double_stereo_camera_gazebo_v0" params="name">
+    <!-- Define link to stereo cameras, set origin relative to that -->
+    <gazebo reference="${name}_double_stereo_link">
+      <material value="PR2/Blue" />
+    </gazebo>
+  </xacro:macro>
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/double_stereo_camera.urdf.xacro

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+<?xml version="1.0"?>
+
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="double_stereo_camera.gazebo.xacro" />
+  <xacro:include filename="stereo_camera.urdf.xacro" />
+
+  <xacro:property name="stereo_size_x" value="0.02" />
+  <xacro:property name="stereo_size_y" value="0.12" />
+  <xacro:property name="stereo_size_z" value="0.05" />
+  <xacro:property name="stereo_center_box_center_offset_x" value="-0.01" />
+  <xacro:property name="stereo_center_box_center_offset_z" value="0.025" />
+
+  <!-- Made by Kevin for double stereo camera for PR-2 Beta. -->
+  <!-- Needs calibration verification, and CAD check. -->
+  <xacro:macro name="double_stereo_camera_v0" params="name parent *origin">
+    <!-- Define link to stereo cameras, set origin relative to that -->
+    <joint name="${name}_frame_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${name}_link"/>
+    </joint>
+    <link name="${name}_link">
+
+      <inertial>
+        <!-- Needs verification with CAD -->
+        <mass value="0.1" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+                 iyy="0.001" iyz="0.0" izz="0.01" />
+      </inertial>
+
+      <!-- Should probably get real visuals here at some point -->
+      <visual>
+        <origin xyz="${stereo_center_box_center_offset_x} 0 ${stereo_center_box_center_offset_z}" rpy="0 0 0" />
+        <geometry>
+          <box size="${stereo_size_x} ${stereo_size_y} ${stereo_size_z}" />
+        </geometry>
+        <material name="Blue" />
+      </visual>
+
+    </link>
+
+    <!-- Wide camera is on robot right (hca1), narrow on left (hca2)? -->
+    <!-- 15mm offset from center needs check with CAD -->
+    <xacro:stereo_camera_v0 parent="${name}_link" name="wide_stereo" focal_length="320.000105" hfov="90" image_format="BAYER_BGGR8" image_width="640" image_height="480" >
+      <origin xyz="0.045 ${0.045-0.015} 0.0501" rpy="0.0   0.0   0.0" />
+    </xacro:stereo_camera_v0>
+    <xacro:stereo_camera_v0 parent="${name}_link" name="narrow_stereo" focal_length="772.548518" hfov="45" image_format="L8" image_width="640" image_height="480" >
+      <origin xyz="0.045 ${0.045+0.015} 0.0501" rpy="0.0   0.0   0.0" />
+    </xacro:stereo_camera_v0>
+
+    <!-- extensions -->
+    <xacro:double_stereo_camera_gazebo_v0 name="${name}" />
+    
+  </xacro:macro>
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/head_sensor_package.gazebo.xacro

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+<?xml version="1.0"?>
+
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+
+  <!-- Made by Kevin for A2 sensor package -->
+  <!-- Origin is center mount screw on sensor plate mount -->
+  <!-- When mounted properly, should have same origin as head plate frame -->
+  <xacro:macro name="pr2_head_sensor_package_gazebo_v0" params="name">
+    <gazebo reference="${name}_sensor_link">
+      <material value="PR2/Blue" />
+    </gazebo>
+  </xacro:macro>
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/head_sensor_package.urdf.xacro

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+<?xml version="1.0"?>
+
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- This urdf macro defines following sensors:
+       prosilica
+       double stereo camera
+  -->
+  <xacro:include filename="head_sensor_package.gazebo.xacro" />
+  <xacro:include filename="double_stereo_camera.urdf.xacro" />
+  <xacro:include filename="prosilica_gc2450_camera.urdf.xacro" />
+
+  <!-- Made by Kevin for A2 sensor package -->
+  <!-- Origin is center mount screw on sensor plate mount -->
+  <!-- When mounted properly, should have same origin as head plate frame -->
+  <xacro:macro name="pr2_head_sensor_package_v0" params="name hd_frame_name hd_camera_name stereo_name parent *origin">
+    <joint name="${name}_frame_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${name}_link"/>
+    </joint>
+    <link name="${name}_link" >
+
+      <inertial>
+        <!-- Needs verification with CAD -->
+        <mass value="0.05" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+                 iyy="0.001" iyz="0.0" izz="0.01" />
+      </inertial>
+
+      <!-- Should probably get real visuals here at some point -->
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.01 0.01 0.01" />
+        </geometry>
+        
+        <material name="Blue" />
+      </visual>
+
+    </link>
+
+    <!-- Prosilica Camera -->
+    <xacro:prosilica_cam_v0 frame_name="${hd_frame_name}" camera_name="${hd_camera_name}" parent="${name}_link" >
+      <!-- camera focal point update from S. Stanford (called Kowa from Prosilica) 2011-08-18 -->
+      <origin xyz="0.046457 -0.110 0.054600" rpy="0 0 0" />        
+    </xacro:prosilica_cam_v0>
+
+    <!-- construct wide and narrow double stereo camera -->
+    <xacro:double_stereo_camera_v0 name="${stereo_name}" parent="${name}_link" >
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    </xacro:double_stereo_camera_v0>
+
+    <!-- extensions -->
+    <xacro:pr2_head_sensor_package_gazebo_v0 name="${name}" />
+
+  </xacro:macro>
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/hokuyo_lx30_laser.gazebo.xacro

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+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="hokuyo_lx30_laser_gazebo_v0" params="name ros_topic update_rate min_angle max_angle">
+    <gazebo reference="${name}_link">
+      <sensor type="ray" name="${name}">
+        <always_on>true</always_on>
+        <update_rate>${update_rate}</update_rate>
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>640</samples>
+              <resolution>1</resolution>
+              <min_angle>${min_angle}</min_angle>
+              <max_angle>${max_angle}</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.08</min>
+            <max>10.0</max>
+            <resolution>0.01</resolution>
+          </range>
+        </ray>
+        <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
+          <gaussianNoise>0.005</gaussianNoise>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>${update_rate}</updateRate>
+          <topicName>${ros_topic}</topicName>
+          <frameName>${name}_link</frameName>
+          <hokuyoMinIntensity>101</hokuyoMinIntensity>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/hokuyo_lx30_laser.urdf.xacro

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+<?xml version="1.0"?>
+
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="hokuyo_lx30_laser.gazebo.xacro" />
+
+  <xacro:macro name="hokuyo_lx30_laser_v0" params="name parent *origin ros_topic update_rate min_angle max_angle">
+    <joint name="${name}_joint" type="fixed">
+      <axis xyz="0 1 0" />
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}_link"/>
+      <child link="${name}_link"/>
+    </joint>
+    <link name="${name}_link" type="laser">
+      <inertial>
+        <mass value="0.001" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
+      </inertial>
+    </link>
+    <!-- gazebo extensions -->
+    <xacro:hokuyo_lx30_laser_gazebo_v0 name="${name}" ros_topic="${ros_topic}" update_rate="${update_rate}" min_angle="${min_angle}" max_angle="${max_angle}" />
+  </xacro:macro>
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_camera.gazebo.xacro

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+<?xml version="1.0"?>
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+  
+<xacro:macro name="kinect_camera_gazebo_v0" params="name">
+  <gazebo reference="${name}_frame">
+    <sensor type="depth" name="${name}_frame_sensor">
+      <always_on>true</always_on>
+      <update_rate>20.0</update_rate>
+      <camera>
+        <horizontal_fov>${57.0*M_PI/180.0}</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.01</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin name="${name}_frame_controller" filename="libgazebo_ros_openni_kinect.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>20.0</updateRate>
+        <cameraName>${name}</cameraName>
+        <imageTopicName>${name}/ir/image_raw</imageTopicName>
+        <cameraInfoTopicName>${name}/ir/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>${name}/depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>${name}/depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>${name}/depth/points</pointCloudTopicName>
+        <frameName>${name}_optical_frame</frameName>
+        <pointCloudCutoff>0.5</pointCloudCutoff>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+    <sensor type="depth" name="${name}_frame_sensor">
+      <always_on>true</always_on>
+      <update_rate>20.0</update_rate>
+      <camera>
+        <horizontal_fov>${57.0*M_PI/180.0}</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.01</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin name="${name}_frame_controller" filename="libgazebo_ros_openni_kinect.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>20.0</updateRate>
+        <cameraName>${name}</cameraName>
+        <imageTopicName>${name}/rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>${name}/rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>${name}/depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>${name}/depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>${name}/rgb/points</pointCloudTopicName>
+        <frameName>${name}_optical_frame</frameName>
+        <pointCloudCutoff>0.5</pointCloudCutoff>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</xacro:macro>
+
+</root>
+

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_camera.urdf.xacro

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+<?xml version="1.0"?>
+<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+      xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+      xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+      xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:include filename="kinect_camera.gazebo.xacro" />
+
+  <xacro:macro name="kinect_camera_v0" params="name parent *origin">
+    <joint name="${name}_frame_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${name}_frame"/>
+    </joint>
+    <link name="${name}_frame">
+
+      <inertial>
+        <mass value="0.1" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.01"  ixy="0.0"  ixz="0.0"
+                 iyy="0.01"  iyz="0.0"
+                 izz="0.01" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0.0 0.012 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/sensors/kinect_v0/kinect.dae" scale="0.001 0.001 0.001" />
+        </geometry>
+      </visual>
+
+      <collision>
+        <origin xyz="0.0 0.012 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/sensors/kinect_v0/kinect.dae" scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+
+    </link>
+
+    <joint name="${name}_optical_joint" type="fixed">
+      <origin xyz="${cal_kinect_x}            ${cal_kinect_y}         ${cal_kinect_z}"
+                rpy="${-M_PI/2+cal_kinect_roll} ${0.0+cal_kinect_pitch} ${-M_PI/2+cal_kinect_yaw}" />
+      <parent link="${name}_frame"/>
+      <child link="${name}_optical_frame"/>
+    </joint>
+
+    <link name="${name}_optical_frame"/>
+
+    <!-- extensions -->
+    <xacro:kinect_camera_gazebo_v0 name="${name}" />
+  </xacro:macro>
+
+</root>
+

roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_prosilica_camera.gazebo.xacro

@@ -0,0 +1,193 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+  
+<xacro:macro name="kinect_ir_gazebo_v0" params="link_name frame_name camera_name">
+  <gazebo reference="${link_name}">
+    <sensor type="depth" name="${name}_ir_sensor">
+      <always_on>true</always_on>
+      <update_rate>1.0</update_rate>
+      <camera>
+        <horizontal_fov>${57.0*M_PI/180.0}</horizontal_fov>
+        <image>
+          <format>L8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.01</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin name="${link_name}_controller" filename="libgazebo_ros_openni_kinect.so">
+        <baseline>0.2</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1.0</updateRate>
+        <cameraName>${camera_name}_ir</cameraName>
+        <imageTopicName>/${camera_name}/depth/image_raw</imageTopicName>
+        <cameraInfoTopicName>/${camera_name}/depth/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/${camera_name}/depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>/${camera_name}/depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>/${camera_name}/depth/points</pointCloudTopicName>
+        <frameName>${frame_name}</frameName>
+        <pointCloudCutoff>0.5</pointCloudCutoff>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+    <material value="Gazebo/Red" />
+  </gazebo>
+</xacro:macro>
+
+<xacro:macro name="kinect_rgb_gazebo_v0" params="link_name frame_name camera_name">
+  <gazebo reference="${link_name}">
+    <sensor type="depth" name="${name}_rgb_sensor">
+      <always_on>true</always_on>
+      <update_rate>1.0</update_rate>
+      <camera>
+        <horizontal_fov>${57.0*M_PI/180.0}</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.01</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin name="${link_name}_controller" filename="libgazebo_ros_openni_kinect.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1.0</updateRate>
+        <cameraName>${camera_name}_rgb</cameraName>
+        <imageTopicName>/${camera_name}/rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>/${camera_name}/rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/${camera_name}/depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>/${camera_name}/depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>/${camera_name}/depth_registered/points</pointCloudTopicName>
+        <frameName>${frame_name}</frameName>
+        <pointCloudCutoff>0.5</pointCloudCutoff>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+    <material value="Gazebo/Red" />
+  </gazebo>
+</xacro:macro>
+
+<xacro:macro name="kinect_prosilica_gazebo" params="joint_name link_name">
+  <gazebo>
+    <plugin name="${link_name}_srp_controller" filename="libgazebo_ros_srp.so">
+      <bodyName>${link_name}</bodyName>
+      <jointName>${joint_name}</jointName>
+      <topicName>${link_name}</topicName>
+    </plugin>
+  </gazebo>
+  <!-- also add transmission for this sliding joint -->
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="${joint_name}_trans">
+    <actuator name="${joint_name}_motor" />
+    <joint name="${joint_name}" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+</xacro:macro>
+
+<xacro:macro name="prosilica_cam_gazebo_v1" params="link_name frame_name camera_name ">
+  <gazebo reference="${link_name}">
+    <sensor type="camera" name="${link_name}_sensor">
+      <always_on>true</always_on>
+      <update_rate>1.0</update_rate>
+      <camera>
+        <horizontal_fov>${64.2*M_PI/180.0}</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin name="${link_name}_controller" filename="libgazebo_ros_prosilica.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1.0</updateRate>
+        <cameraName>${camera_name}_1mb</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <pollServiceName>request_image</pollServiceName>
+        <pointCloudTopicName>points</pointCloudTopicName>
+        <frameName>${frame_name}</frameName>
+        <pointCloudCutoff>0.4</pointCloudCutoff>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+    <sensor type="depth" name="${link_name}_sim_pcd_sensor">
+      <always_on>true</always_on>
+      <update_rate>1.0</update_rate>
+      <camera>
+        <horizontal_fov>${64.2*M_PI/180.0}</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin name="${link_name}_sim_pcd_controller" filename="libgazebo_ros_openni_kinect.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1.0</updateRate>
+        <cameraName>${camera_name}_1mb_sim_pcd</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <pointCloudTopicName>points</pointCloudTopicName>
+        <frameName>${frame_name}</frameName>
+        <pointCloudCutoff>0.4</pointCloudCutoff>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+    <material value="Gazebo/Red" />
+  </gazebo>
+</xacro:macro>
+
+</root>
+