<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="wge100_camera_gazebo_v0" params="name camera_name image_format image_topic_name camera_info_topic_name hfov focal_length frame_id hack_baseline image_width image_height">
    <gazebo reference="${name}_frame">
      <sensor type="camera" name="${name}_sensor">
        <always_on>true</always_on>
        <update_rate>25.0</update_rate>
        <camera>
          <horizontal_fov>${hfov*M_PI/180.0}</horizontal_fov>
          <image>
            <format>${image_format}</format>
            <width>${image_width}</width>
            <height>${image_height}</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <plugin name="${name}_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>25.0</updateRate>
          <cameraName>${camera_name}</cameraName>
          <imageTopicName>${image_topic_name}</imageTopicName>
          <cameraInfoTopicName>${camera_info_topic_name}</cameraInfoTopicName>
          <frameName>${frame_id}</frameName>
          <hackBaseline>${hack_baseline}</hackBaseline>
          <CxPrime>${(image_width+1)/2}</CxPrime>
          <Cx>${(image_width+1)/2}</Cx>
          <Cy>${(image_height+1)/2}</Cy>
          <!-- image_width / (2*tan(hfov_radian /2)) -->
          <!-- 320 for wide and 772.55 for narrow stereo camera -->
          <focalLength>${focal_length}</focalLength>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
      <turnGravityOff>true</turnGravityOff>
      <material>PR2/Blue</material>
    </gazebo>
  </xacro:macro>

</robot>
