Fix minor issues in iCubGazeboV3_visuomanip (#176)

robotology · Dec 13, 2022 · 97b5662 · 97b5662
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commit 97b5662
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Showing 5 changed files with 159 additions and 161 deletions.
diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini
@@ -1,6 +1,6 @@
 [include "gazebo_icub_robotname.ini"]
 
-device RGBDSensorWrapper
+device RGBDSensor_nws_yarp
 period 30
 name /${gazeboYarpPluginsRobotName}/cam/left
 

diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini
@@ -0,0 +1,7 @@
+[include "gazebo_icub_robotname.ini"]
+
+device frameGrabber_nws_yarp
+subdevice gazebo_camera
+name /${gazeboYarpPluginsRobotName}/cam/left/rgbImage:o
+freq 30
+stamp 1
diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini
@@ -0,0 +1,11 @@
+[include "gazebo_icub_robotname.ini"]
+
+device RGBDSensor_nws_yarp
+period 30
+name /${gazeboYarpPluginsRobotName}/cam/right
+
+[CAMERA_PARAM]
+focalLengthX 343.12110728152936
+focalLengthY 343.12110728152936
+tangentialPointX 0.0
+tangentialPointY 0.0
diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini
@@ -1,6 +1,6 @@
 [include "gazebo_icub_robotname.ini"]
 
-device grabberDual
+device frameGrabber_nws_yarp
 subdevice gazebo_camera
 name /${gazeboYarpPluginsRobotName}/cam/right/rgbImage:o
 freq 30