BlueRov2.urdf.xacro: Add light

WIP #11

Signed-off-by: Patrick José Pereira <[email protected]>

model/BlueRov2.urdf.xacro

@@ -176,4 +176,34 @@
     </sensor>
   </gazebo>
 
-</robot>
+  <!-- Add light -->
+  <light type="spot" name="spot">
+    <pose>2 0 0 0 0 0</pose>
+    <diffuse>0 1 0 1</diffuse>
+    <specular>.2 .2 .2 1</specular>
+    <attenuation>
+      <range>10</range>
+      <linear>0.01</linear>
+      <constant>0.2</constant>
+      <quadratic>0.0</quadratic>
+    </attenuation>
+    <direction>0 0 -1</direction>
+    <spot>
+      <inner_angle>0.1</inner_angle>
+      <outer_angle>0.5</outer_angle>
+      <falloff>1.2</falloff>
+    </spot>
+    <cast_shadows>false</cast_shadows>
+  </light>
+
+  <plugin name="attach_light" filename="libAttachLightPlugin.so">
+    <link>
+      <link_name>BlueRov2::camera_link</link_name>
+      <light>
+        <pose>0 0 0.9 3.14 0 0</pose>
+        <light_name>spot</light_name>
+      </light>
+    </link>
+  </plugin>
+
+</robot>