~shadowrobot/sr-ros-interface/Feature_update_controller_params

<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro" name="gazebo_kinect">

 

<xacro:macro name="shadowarm_sim_kinect">

  <gazebo reference="camera_link">

    <sensor:camera name="kinect_camera">

      <imageFormat>R8G8B8</imageFormat>

      <imageSize>640 480</imageSize>

      <hfov>60</hfov>

      <nearClip>0.05</nearClip>

      <farClip>3</farClip>

      <updateRate>20</updateRate>

      <baseline>0.1</baseline>

      <controller:gazebo_ros_openni_kinect name="kinect_camera_controller" plugin="libgazebo_ros_openni_kinect.so">

        <alwaysOn>true</alwaysOn>

        <updateRate>20</updateRate>

        <imageTopicName>/camera/image_raw</imageTopicName>

        <pointCloudTopicName>/camera/depth_registered/points</pointCloudTopicName>

        <cameraInfoTopicName>/camera/camera_info</cameraInfoTopicName>

        <frameName>/camera_depth_optical_frame</frameName>

        <distortion_k1>0.0</distortion_k1>

        <distortion_k2>0.0</distortion_k2>

        <distortion_k3>0.0</distortion_k3>

        <distortion_t1>0.0</distortion_t1>

        <distortion_t2>0.0</distortion_t2>

      </controller:gazebo_ros_openni_kinect>

    </sensor:camera>

  </gazebo>

</xacro:macro>

</robot>