iris_opt_flow.sdf

<sdf version='1.5'>
  <model name='iris_opt_flow'>

    <include>
      <uri>model://iris</uri>
    </include>

    <include>
      <uri>model://lidar</uri>
      <pose>-0.12 0 0 0 3.1415 0</pose>
    </include>
    <joint name="lidar_joint" type="revolute">
      <child>lidar::link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

    <include>
      <uri>model://flow_cam</uri>
      <pose>-0.12 0.05 0 0 1.5708 1.5708</pose>
    </include>
    <joint name="flow_joint" type="revolute">
      <child>camera::link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>


<model name="hokuyo">
  <pose>0 0 0.07 0 0 0</pose>
  <link name="hklink">
      <inertial>
        <mass>1e-5</mass>
        <inertia>
          <ixx>1e-6</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-6</iyy>
          <iyz>0</iyz>
          <izz>1e-6</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>file:///home/sujith/Firmware/Tools/sitl_gazebo/models/iris_opt_flow/hokuyo.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.041</size>
          </box>
        </geometry>
      </collision>

        <sensor type ="gpu_ray" name="laser">
          <pose>0.01 0 0.0175 0 -0 0</pose>
          <visualize>true</visualize>
          <update_rate>30</update_rate>
          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-2.26889</min_angle>
                <max_angle>2.26889</max_angle>
              </horizontal>
            </scan>
            <range>
              <min>0.08</min>
              <max>10</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <plugin name="laser" filename="libgazebo_ros_gpu_laser.so">
            <alwaysOn>true</alwaysOn>
            <topicName>rawscan</topicName>
            <frameName>hklink</frameName>
          </plugin>
        </sensor>   
    </link>
  </model>
    <joint name="hokuyo_joint" type="fixed">
      <child>hokuyo::hklink</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>





  
  <model name="camera1model">
    <pose>0.11 0 0 0 1.0466 0</pose>
    <!-- downcam pose>0 0 -0.042 0 1.57 0</pose-->
    <link name="camera1link">
      <inertial>
        <mass>1e-5</mass>
        <inertia>
          <ixx>1e-6</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-6</iyy>
          <iyz>0</iyz>
          <izz>1e-6</izz>
        </inertia>
      </inertial>
      <collision name="camera1collision">
        <geometry>
          <box>
            <size>0.02 0.05 0.05</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.02 0.05 0.05</size>
          </box>
        </geometry>
      </visual>
      <sensor type="camera" name="camera1">
        <update_rate>30.0</update_rate>
        <camera name="camera1head">
          <horizontal_fov>1.3962634</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>
            <!-- Noise is sampled independently per pixel on each frame.
                 That pixel's noise value is added to each of its color
                 channels, which at that point lie in the range [0,1]. -->
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>camera1</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>camera1link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
  </model>
  <joint name="camera1_joint" type="fixed">
      <child>camera1model::camera1link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
   </joint>

  <!--model name="camera2model">
    <pose>0.11 0.03 0 0 1.57 0</pose>
    <link name="camera2link">
      <inertial>
        <mass>1e-5</mass>
        <inertia>
          <ixx>1e-6</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-6</iyy>
          <iyz>0</iyz>
          <izz>1e-6</izz>
        </inertia>
      </inertial>
      <collision name="camera2collision">
        <geometry>
          <box>
            <size>0.02 0.05 0.05</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.02 0.05 0.05</size>
          </box>
        </geometry>
      </visual>
      <sensor type="camera" name="camera2">
        <update_rate>30.0</update_rate>
        <camera name="camera2head">
          <horizontal_fov>1.3962634</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>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>camera2</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>camera2link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
  </model>
  <joint name="camera2_joint" type="fixed">
      <child>camera2model::camera2link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
   </joint-->


  </model>
</sdf>