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SyrianSpock / realsense_gazebo_plugin

Intel RealSense R200 Gazebo ROS plugin and model
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Why are there 2 IR cameras and 4 Gazebo sensors? #49

Closed felixvd closed 4 years ago

felixvd commented 4 years ago

From what I understand, the SR300 has one IR projector, one IR camera and one RGB camera. However, in the URDF I see these 4 joints/links, and a Gazebo sensor that is spawned for each of them:

    <link name="${prefix}color" />
    <link name="${prefix}depth" />
    <link name="${prefix}ired1" />
    <link name="${prefix}ired2" />

What do the ired1 and ired2 cameras mean? Shouldn't there only be one? Thanks in advance.

PS: I am asking because I would like to make a URDF for the SR305, but I am confused since there is only one IR sensor in the CAD file.

SyrianSpock commented 4 years ago

We simulate the R200 which has a stereo IR rig, so that's two IR cameras.

felixvd commented 4 years ago

Thanks. I like when dumb questions have simple answers :)