Gimbal: add depth camera to gimbal_small_2d

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

Author: srmainwaring

models/gimbal_small_2d/model.sdf

@@ -186,5 +186,103 @@
       </axis>
       <pose>0 0 0.02 0 0 0</pose>
     </joint>
+
+    <link name='camera_link'>
+      <pose degrees="true">0 0 0 -90 -90 0</pose>
+      <inertial>
+        <mass>0.01</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <visual name='visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.025</radius>
+            <length>0.050</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.4 0.4 0.4</ambient>
+          <diffuse>0.4 0.4 0.4</diffuse>
+          <specular>0.1 0.1 0.1 1.0</specular>
+        </material>
+      </visual>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.025</radius>
+            <length>0.050</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <sensor name="camera" type="camera">
+        <gz_frame_id>camera_link</gz_frame_id>
+        <pose degrees="true">0 0 0 0 0 0</pose>
+        <camera>
+          <horizontal_fov>2.0</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>15000</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>10</update_rate>
+        <visualize>1</visualize>
+        <plugin name="GstCameraPlugin"
+            filename="GstCameraPlugin">
+          <udp_host>127.0.0.1</udp_host>
+          <udp_port>5600</udp_port>
+          <use_basic_pipeline>true</use_basic_pipeline>
+          <use_cuda>false</use_cuda>
+        </plugin>
+      </sensor>
+      <sensor name="depth_camera" type="depth_camera">
+        <gz_frame_id>camera_link</gz_frame_id>
+        <pose degrees="true">0 0 0 0 0 0</pose>
+        <camera>
+          <horizontal_fov>1.05</horizontal_fov>
+          <image>
+            <width>256</width>
+            <height>256</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20.0</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+      <update_rate>10</update_rate>
+      <visualize>1</visualize>
+    </sensor>
+    </link>
+    <joint name='camera_joint' type='revolute'>
+      <parent>tilt_link</parent>
+      <child>camera_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <damping>0.5</damping>
+        </dynamics>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+      <pose>0 0 0 0 0 0</pose>
+    </joint>
+
   </model>
 </sdf>