Bug fiix import patron.xacro and append packages realsense2
This commit is contained in:
Даниил Грабарь
@@ -0,0 +1,90 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package realsense2_description
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.57.4 (2025-11-02)
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-------------------
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* Update realsense2_camera_description package.xml to 4.57.4
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* PR `#3441 <https://github.com/IntelRealSense/realsense-ros/issues/3441>`_ from remibettan/ros2-development: merging 4.57.3 to ros2-development
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* Merge tag '4.57.3' into ros2-development
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* Contributors: Remi Bettan
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4.57.3 (2025-09-15)
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-------------------
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* PR `#3429 <https://github.com/realsenseai/realsense-ros/issues/3429>`_ from remibettan: intel removed, realsense added
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* PR `#3417 <https://github.com/realsenseai/realsense-ros/issues/3417>`_ from remibettan: Merging ros2 hkr to ros2 dev final
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* PR `#45 <https://github.com/realsenseai/realsense-ros/issues/45>`_ from remibettan: Merge ros2 dev to ros2 hkr
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* PR `#3404 <https://github.com/realsenseai/realsense-ros/issues/3404>`_ from adamwhats: Use package:// to discover meshes
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* PR `#3410 <https://github.com/realsenseai/realsense-ros/issues/3410>`_ from Nir-Az: Update copyrights
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* PR `#3401 <https://github.com/realsenseai/realsense-ros/issues/3401>`_ from ashrafk93: remove test dependencies
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* PR `#2813 <https://github.com/realsenseai/realsense-ros/issues/2813>`_ from SamerKhshiboun: Fix URDF and LPCL for SC
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* PR `#2807 <https://github.com/realsenseai/realsense-ros/issues/2807>`_ from SamerKhshiboun: Update _d585.urdf.xacro
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* PR `#2771 <https://github.com/realsenseai/realsense-ros/issues/2771>`_ from SamerKhshiboun: SC urdf
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* Contributors: Arun-Prasad-V, Ashraf Kattoura, Nir Azkiel, Remi Bettan, Samer Khshiboun, adamwhats
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4.55.1 (2024-05-28)
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-------------------
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* PR `#2957 <https://github.com/realsenseai/realsense-ros/issues/2957>`_ from hellototoro: to_urdf fun retrun a str, not a BufferedRandom
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* PR `#2953 <https://github.com/realsenseai/realsense-ros/issues/2953>`_ from Arun-Prasad-V: Added urdf & mesh files for D405 model
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* PR `#2841 <https://github.com/realsenseai/realsense-ros/issues/2841>`_ from SamerKhshiboun: Remove Dashing, Eloquent, Foxy, L500 and SR300 support
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* PR `#2817 <https://github.com/realsenseai/realsense-ros/issues/2817>`_ from karina-ranadive: Replaced Deprecated function mktemp to TemporaryFile
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* Contributors: Arun-Prasad-V, karina-ranadive, SamerKhshiboun, hellototoro
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4.54.1 (2023-06-27)
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-------------------
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* Update mesh path
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* clone PR1637 to ros2-development
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* Fix Apache License Header and Intel Copyrights
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* apply copyrights and license on project
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* Replace deprecated parameter node_name with name
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* Contributors: Arun Prasad, Nir Azkiel, SamerKhshiboun, augustelalande, marqrazz
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4.51.1 (2022-09-13)
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-------------------
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* Add copyright and license to all ROS2-beta source files
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* Contributors: SamerKhshiboun
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4.0.4 (2022-03-20)
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------------------
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4.0.3 (2022-03-16)
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------------------
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4.0.2 (2022-02-24)
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------------------
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4.0.1 (2022-02-01)
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------------------
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* Add D455 urdf files
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* Contributors: nomumu, JamesChooWK, doronhi
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3.1.3 (2020-12-28)
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------------------
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* fix realsense2_description's dependency to realsense2_camera_msgs
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remove boost dependency.
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rename node_namespace to namespace
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rename node_executable to executable
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* Contributors: benlev, Gilaadb, doronhi
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3.1.2 (2020-12-10)
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------------------
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* Add urdf for L515.
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* remove librealsense2 and realsense2_camera dependencies
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* Add models for D415, D435, D435i.
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For visualization, can be presented using view_model.launch.py
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* fix view_d435_model.launch.py and view_d435i_model.launch.py
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run: ros2 launch realsense2_description view_d435i_model.launch.py
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* Contributors: Ryan Shim, doronhi
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2.2.14 (2020-06-18)
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-------------------
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* fix urdf issues (arg use_nominal_extrinsics).
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* Add noetic support:
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- urdf files.
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- change state_publisher into robot_state_publisher
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* correct offset between camera_link and base_link
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* Contributors: Brice, Marco Camurri, doronhi
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* upgrade version to 2.2.13
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@@ -0,0 +1,28 @@
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# Copyright 2023 RealSense, Inc. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.10)
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project(realsense2_description)
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find_package(ament_cmake REQUIRED)
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# Install files
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install(DIRECTORY
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launch
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meshes
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rviz
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urdf
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DESTINATION share/${PROJECT_NAME})
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ament_package()
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@@ -0,0 +1,33 @@
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# Copyright 2023 RealSense, Inc. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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import xacro
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import tempfile
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def to_urdf(xacro_path, parameters=None):
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"""Convert the given xacro file to URDF file.
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* xacro_path -- the path to the xacro file
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* parameters -- to be used when xacro file is parsed.
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"""
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with tempfile.NamedTemporaryFile(prefix="%s_" % os.path.basename(xacro_path), delete=False) as xacro_file:
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urdf_path = xacro_file.name
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# open and process file
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doc = xacro.process_file(xacro_path, mappings=parameters)
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# open the output file
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with open(urdf_path, 'w') as urdf_file:
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urdf_file.write(doc.toprettyxml(indent=' '))
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return urdf_path
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@@ -0,0 +1,55 @@
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# Copyright 2023 RealSense, Inc. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
|
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# /* Author: Doron Hirshberg */
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import os
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import launch
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from launch_ros.actions import Node
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import launch.events
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from ament_index_python.packages import get_package_share_directory
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import sys
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sys.path.append(os.path.dirname(os.path.realpath(__file__)))
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from launch_utils import to_urdf
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def generate_launch_description():
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available_urdf_files = [f for f in os.listdir(os.path.join(get_package_share_directory('realsense2_description'), 'urdf')) if f.startswith('test_')]
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params = dict([aa for aa in [aa.split(':=') for aa in sys.argv] if len(aa) == 2])
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if ('model' not in params or params['model'] not in available_urdf_files):
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print('USAGE:')
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print('ros2 launch realsense2_description view_model.launch.py model:=<model>')
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print('Available argumants for <model> are as follows:')
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print('\n'.join(available_urdf_files))
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return launch.LaunchDescription()
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rviz_config_dir = os.path.join(get_package_share_directory('realsense2_description'), 'rviz', 'urdf.rviz')
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xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', params['model'])
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urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', rviz_config_dir],
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parameters=[{'use_sim_time': False}]
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)
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model_node = Node(
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name='model_node',
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package='robot_state_publisher',
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executable='robot_state_publisher',
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namespace='',
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output='screen',
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arguments=[urdf]
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)
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return launch.LaunchDescription([rviz_node, model_node])
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@@ -0,0 +1,28 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>realsense2_description</name>
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<version>4.57.7</version>
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<description>RealSense description package for RealSense 3D D400 cameras</description>
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<maintainer email="rsswsdk@realsensecloud.onmicrosoft.com">LibRealSense ROS Team</maintainer>
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<maintainer email="nir.azkiel@realsenseai.com">Nir Azkiel</maintainer>
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<license>Apache License 2.0</license>
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<url type="website">http://www.ros.org/wiki/RealSense</url>
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<url type="bugtracker">https://github.com/intel-ros/realsense/issues</url>
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<author email="rsswsdk@realsensecloud.onmicrosoft.com">LibRealSense ROS Team</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>realsense2_camera_msgs</depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>xacro</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@@ -0,0 +1,154 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /RobotModel1/Description Topic1
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- /TF1
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- /TF1/Frames1
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Splitter Ratio: 0.6360294222831726
|
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Tree Height: 496
|
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- Class: rviz_common/Selection
|
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Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
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Expanded:
|
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- /2D Pose Estimate1
|
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- /Publish Point1
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Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
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Name: Views
|
||||
Splitter Ratio: 0.5
|
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Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
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Collision Enabled: false
|
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Description File: ""
|
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Description Source: Topic
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Description Topic:
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Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /robot_description
|
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Enabled: true
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Marker Scale: 0.100000001
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: base_link
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 0.241934671998024
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.44539815187454224
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.0853981301188469
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 841
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002effc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ef000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002effc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ef000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000424000002ef00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1685
|
||||
X: 67
|
||||
Y: 60
|
||||
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 405 camera, in its
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_d405" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_d405" params="parent *origin name:=camera use_nominal_extrinsics:=false">
|
||||
<xacro:arg name="add_plug" default="false" />
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="d405_cam_depth_to_infra1_offset" value="0.0"/>
|
||||
<xacro:property name="d405_cam_depth_to_infra2_offset" value="-0.018"/>
|
||||
<xacro:property name="d405_cam_depth_to_color_offset" value="0.0"/>
|
||||
|
||||
<!-- The following values model the aluminum peripherial case for the
|
||||
d405 camera, with the camera joint represented by the actual
|
||||
peripherial camera tripod mount -->
|
||||
<xacro:property name="d405_cam_width" value="0.042"/>
|
||||
<xacro:property name="d405_cam_height" value="0.042"/>
|
||||
<xacro:property name="d405_cam_depth" value="0.023"/>
|
||||
<xacro:property name="d405_cam_mount_from_center_offset" value="0.01465"/>
|
||||
<!-- glass cover is 0.1 mm inwards from front aluminium plate -->
|
||||
<xacro:property name="d405_glass_to_front" value="0.1e-3"/>
|
||||
<!-- see datasheet Revision 017, Table. 4-16 page 97 -->
|
||||
<xacro:property name="d405_zero_depth_to_glass" value="3.7e-3"/>
|
||||
<!-- convenience precomputation to avoid clutter-->
|
||||
<xacro:property name="d405_mesh_x_offset" value="${d405_cam_mount_from_center_offset-d405_glass_to_front-d405_zero_depth_to_glass}"/>
|
||||
|
||||
<!-- The following offset is relative to the physical d405 camera peripherial
|
||||
camera tripod mount -->
|
||||
<xacro:property name="d405_cam_depth_px" value="${d405_cam_mount_from_center_offset}"/>
|
||||
<xacro:property name="d405_cam_depth_py" value="0.009"/>
|
||||
<xacro:property name="d405_cam_depth_pz" value="${d405_cam_height/2}"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_bottom_screw_frame" />
|
||||
</joint>
|
||||
<link name="${name}_bottom_screw_frame"/>
|
||||
|
||||
<joint name="${name}_link_joint" type="fixed">
|
||||
<origin xyz="${d405_mesh_x_offset} ${d405_cam_depth_py} ${d405_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_bottom_screw_frame"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
||||
<origin xyz="${d405_zero_depth_to_glass + d405_glass_to_front} ${-d405_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001" />
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="${d405_zero_depth_to_glass-d405_cam_depth/2} ${-d405_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d405_cam_depth} ${d405_cam_width} ${d405_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<mass value="0.072" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${d405_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${d405_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
|
||||
<!-- camera color joints and links -->
|
||||
<joint name="${name}_color_joint" type="fixed">
|
||||
<origin xyz="0 ${d405_cam_depth_to_color_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_color_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_frame"/>
|
||||
|
||||
<joint name="${name}_color_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_color_frame" />
|
||||
<child link="${name}_color_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_optical_frame"/>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:if value="$(arg add_plug)">
|
||||
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
|
||||
<origin xyz="${-0.00153-d405_mesh_x_offset} ${d405_cam_width/2-d405_cam_depth_py} 0" rpy="${M_PI} 0 0"/>
|
||||
</xacro:usb_plug>
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 415 camera, in its
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_d415" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_d415" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false use_mesh:=true">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="d415_cam_depth_to_infra1_offset" value="0.0"/>
|
||||
<xacro:property name="d415_cam_depth_to_infra2_offset" value="-0.055"/>
|
||||
<xacro:property name="d415_cam_depth_to_color_offset" value="0.015"/>
|
||||
|
||||
<!-- The following values model the aluminum peripherial case for the
|
||||
d415 camera, with the camera joint represented by the actual
|
||||
peripherial camera tripod mount -->
|
||||
<xacro:property name="d415_cam_width" value="0.099"/>
|
||||
<xacro:property name="d415_cam_height" value="0.023"/>
|
||||
<xacro:property name="d415_cam_depth" value="0.02005"/>
|
||||
<xacro:property name="d415_cam_mount_from_center_offset" value="0.00987"/>
|
||||
|
||||
<!-- The following offset is relative the the physical d415 camera peripherial
|
||||
camera tripod mount -->
|
||||
<xacro:property name="d415_cam_depth_px" value="${d415_cam_mount_from_center_offset}"/>
|
||||
<xacro:property name="d415_cam_depth_py" value="0.020"/>
|
||||
<xacro:property name="d415_cam_depth_pz" value="${d415_cam_height/2}"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_bottom_screw_frame" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_bottom_screw_frame"/>
|
||||
|
||||
<joint name="${name}_link_joint" type="fixed">
|
||||
<origin xyz="0 ${d415_cam_depth_py} ${d415_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_bottom_screw_frame"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<xacro:if value="${use_mesh}">
|
||||
<origin xyz="${d415_cam_mount_from_center_offset} ${-d415_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<mesh filename="package://realsense2_description/meshes/d415.stl" />
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</xacro:if>
|
||||
<xacro:unless value="${use_mesh}">
|
||||
<origin xyz="0 ${-d415_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d415_cam_depth} ${d415_cam_width} ${d415_cam_height}"/>
|
||||
</geometry>
|
||||
</xacro:unless>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 ${-d415_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d415_cam_depth} ${d415_cam_width} ${d415_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.072" />
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${d415_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${d415_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
|
||||
<!-- camera color joints and links -->
|
||||
<joint name="${name}_color_joint" type="fixed">
|
||||
<origin xyz="0 ${d415_cam_depth_to_color_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_color_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_frame"/>
|
||||
|
||||
<joint name="${name}_color_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_color_frame" />
|
||||
<child link="${name}_color_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_optical_frame"/>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:if value="${add_plug}">
|
||||
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
|
||||
<origin xyz="${d415_cam_mount_from_center_offset - 0.01587} ${-d415_cam_depth_py - 0.0358} 0" rpy="0 0 0"/>
|
||||
</xacro:usb_plug>
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,172 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 430 camera, in its
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_d435" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_d435" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false use_mesh:=true">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="d435_cam_depth_to_infra1_offset" value="0.0"/>
|
||||
<xacro:property name="d435_cam_depth_to_infra2_offset" value="-0.050"/>
|
||||
<xacro:property name="d435_cam_depth_to_color_offset" value="0.015"/>
|
||||
|
||||
<!-- The following values model the aluminum peripherial case for the
|
||||
D435 camera, with the camera joint represented by the actual
|
||||
peripherial camera tripod mount -->
|
||||
<xacro:property name="d435_cam_width" value="0.090"/>
|
||||
<xacro:property name="d435_cam_height" value="0.025"/>
|
||||
<xacro:property name="d435_cam_depth" value="0.02505"/>
|
||||
<xacro:property name="d435_cam_mount_from_center_offset" value="0.0149"/>
|
||||
<!-- glass cover is 0.1 mm inwards from front aluminium plate -->
|
||||
<xacro:property name="d435_glass_to_front" value="0.1e-3"/>
|
||||
<!-- see datasheet Revision 007, Fig. 4-4 page 65 -->
|
||||
<xacro:property name="d435_zero_depth_to_glass" value="4.2e-3"/>
|
||||
<!-- convenience precomputation to avoid clutter-->
|
||||
<xacro:property name="d435_mesh_x_offset" value="${d435_cam_mount_from_center_offset-d435_glass_to_front-d435_zero_depth_to_glass}"/>
|
||||
|
||||
<!-- The following offset is relative the the physical D435 camera peripherial
|
||||
camera tripod mount -->
|
||||
<xacro:property name="d435_cam_depth_px" value="${d435_cam_mount_from_center_offset}"/>
|
||||
<xacro:property name="d435_cam_depth_py" value="0.0175"/>
|
||||
<xacro:property name="d435_cam_depth_pz" value="${d435_cam_height/2}"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_bottom_screw_frame" />
|
||||
</joint>
|
||||
<link name="${name}_bottom_screw_frame"/>
|
||||
|
||||
<joint name="${name}_link_joint" type="fixed">
|
||||
<origin xyz="${d435_mesh_x_offset} ${d435_cam_depth_py} ${d435_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_bottom_screw_frame"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<xacro:if value="${use_mesh}">
|
||||
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
||||
<origin xyz="${d435_zero_depth_to_glass + d435_glass_to_front} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<mesh filename="package://realsense2_description/meshes/d435.dae" />
|
||||
</geometry>
|
||||
</xacro:if>
|
||||
<xacro:unless value="${use_mesh}">
|
||||
<origin xyz="0 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</xacro:unless>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<mass value="0.072" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${d435_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${d435_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
|
||||
<!-- camera color joints and links -->
|
||||
<joint name="${name}_color_joint" type="fixed">
|
||||
<origin xyz="0 ${d435_cam_depth_to_color_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_color_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_frame"/>
|
||||
|
||||
<joint name="${name}_color_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_color_frame" />
|
||||
<child link="${name}_color_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_optical_frame"/>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:if value="${add_plug}">
|
||||
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
|
||||
<origin xyz="${d435_cam_mount_from_center_offset - 0.02095} ${-d435_cam_depth_py - 0.0353} 0" rpy="0 0 0"/>
|
||||
</xacro:usb_plug>
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,35 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 435i camera, in it's
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_d435i" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d435i_imu_modules.urdf.xacro"/>
|
||||
|
||||
<xacro:macro name="sensor_d435i" params="parent *origin name:=camera use_nominal_extrinsics:=false">
|
||||
<xacro:sensor_d435 parent="${parent}" name="${name}" use_nominal_extrinsics="${use_nominal_extrinsics}">
|
||||
<xacro:insert_block name="origin" />
|
||||
</xacro:sensor_d435>
|
||||
<xacro:d435i_imu_modules name="${name}" use_nominal_extrinsics="${use_nominal_extrinsics}"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,59 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the inertial modules of the
|
||||
RealSense 435i camera.
|
||||
-->
|
||||
<robot name="d435i_imu_modules" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="d435i_imu_modules" params="name use_nominal_extrinsics">
|
||||
<xacro:property name="M_PI" value="${pi}" />
|
||||
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<link name="${name}_accel_frame" />
|
||||
<link name="${name}_accel_optical_frame" />
|
||||
<link name="${name}_gyro_frame" />
|
||||
<link name="${name}_gyro_optical_frame" />
|
||||
|
||||
<joint name="${name}_accel_joint" type="fixed">
|
||||
<origin xyz = "-0.01174 -0.00552 0.0051" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_accel_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_accel_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_accel_frame" />
|
||||
<child link="${name}_accel_optical_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_gyro_joint" type="fixed">
|
||||
<origin xyz = "-0.01174 -0.00552 0.0051" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_gyro_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_gyro_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_gyro_frame" />
|
||||
<child link="${name}_gyro_optical_frame" />
|
||||
</joint>
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,205 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2026 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the Intel RealSense D436 camera, in its
|
||||
aluminum peripheral evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_d436" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_d436" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false use_mesh:=true">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="d436_cam_depth_to_infra1_offset" value="0.0"/>
|
||||
<xacro:property name="d436_cam_depth_to_infra2_offset" value="-0.050"/>
|
||||
<xacro:property name="d436_cam_depth_to_color_offset_y" value="0.015"/>
|
||||
<xacro:property name="d436_cam_depth_to_color_offset_x" value="-0.00555"/>
|
||||
|
||||
<!-- The following values model the aluminum peripheral case for the
|
||||
d436 camera, with the camera joint represented by the actual
|
||||
peripheral camera tripod mount -->
|
||||
<xacro:property name="d436_cam_width" value="0.090"/>
|
||||
<xacro:property name="d436_cam_height" value="0.025"/>
|
||||
<xacro:property name="d436_cam_depth" value="0.02505"/>
|
||||
<xacro:property name="d436_cam_mount_from_center_offset" value="0.0149"/>
|
||||
<!-- glass cover is 0.1 mm inwards from front aluminium plate -->
|
||||
<xacro:property name="d436_glass_to_front" value="0.1e-3"/>
|
||||
<xacro:property name="d436_zero_depth_to_glass" value="4.2e-3"/>
|
||||
<!-- convenience precomputation to avoid clutter-->
|
||||
<xacro:property name="d436_mesh_x_offset" value="${d436_cam_mount_from_center_offset-d436_glass_to_front-d436_zero_depth_to_glass}"/>
|
||||
|
||||
<!-- The following offset is relative to the physical d436 camera peripheral
|
||||
camera tripod mount -->
|
||||
<xacro:property name="d436_cam_depth_px" value="${d436_cam_mount_from_center_offset}"/>
|
||||
<xacro:property name="d436_cam_depth_py" value="0.0175"/>
|
||||
<xacro:property name="d436_cam_depth_pz" value="${d436_cam_height/2}"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_bottom_screw_frame" />
|
||||
</joint>
|
||||
<link name="${name}_bottom_screw_frame"/>
|
||||
|
||||
<joint name="${name}_link_joint" type="fixed">
|
||||
<origin xyz="${d436_mesh_x_offset} ${d436_cam_depth_py} ${d436_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_bottom_screw_frame"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<xacro:if value="${use_mesh}">
|
||||
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
||||
<origin xyz="${d436_zero_depth_to_glass + d436_glass_to_front} ${-d436_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<mesh filename="package://realsense2_description/meshes/d435.dae" />
|
||||
</geometry>
|
||||
</xacro:if>
|
||||
<xacro:unless value="${use_mesh}">
|
||||
<origin xyz="0 ${-d436_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d436_cam_depth} ${d436_cam_width} ${d436_cam_height}"/>
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</xacro:unless>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 ${-d436_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d436_cam_depth} ${d436_cam_width} ${d436_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<mass value="0.072" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${d436_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${d436_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
|
||||
<!-- camera color joints and links -->
|
||||
<joint name="${name}_color_joint" type="fixed">
|
||||
<origin xyz="${d436_cam_depth_to_color_offset_x} ${d436_cam_depth_to_color_offset_y} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_color_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_frame"/>
|
||||
|
||||
<joint name="${name}_color_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_color_frame" />
|
||||
<child link="${name}_color_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_optical_frame"/>
|
||||
|
||||
<!-- IMU accel joints and links -->
|
||||
<link name="${name}_accel_frame" />
|
||||
<link name="${name}_accel_optical_frame" />
|
||||
|
||||
<joint name="${name}_accel_joint" type="fixed">
|
||||
<origin xyz = "-0.01174 -0.00552 0.0051" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_accel_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_accel_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_accel_frame" />
|
||||
<child link="${name}_accel_optical_frame" />
|
||||
</joint>
|
||||
|
||||
<!-- IMU gyro joints and links -->
|
||||
<link name="${name}_gyro_frame" />
|
||||
<link name="${name}_gyro_optical_frame" />
|
||||
|
||||
<joint name="${name}_gyro_joint" type="fixed">
|
||||
<origin xyz = "-0.01174 -0.00552 0.0051" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_gyro_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_gyro_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_gyro_frame" />
|
||||
<child link="${name}_gyro_optical_frame" />
|
||||
</joint>
|
||||
|
||||
</xacro:if>
|
||||
|
||||
<xacro:if value="${add_plug}">
|
||||
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
|
||||
<origin xyz="${d436_cam_mount_from_center_offset - 0.02095} ${-d436_cam_depth_py - 0.0353} 0" rpy="0 0 0"/>
|
||||
</xacro:usb_plug>
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,210 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 430 camera, in its
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_d455" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_d455" params="parent *origin name:=camera use_nominal_extrinsics:=false">
|
||||
<xacro:arg name="add_plug" default="false" />
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="d455_cam_depth_to_infra1_offset" value="0.0"/>
|
||||
<xacro:property name="d455_cam_depth_to_infra2_offset" value="-0.095"/>
|
||||
<xacro:property name="d455_cam_depth_to_color_offset" value="-0.059"/>
|
||||
|
||||
|
||||
<!-- The following values model the aluminum peripherial case for the
|
||||
d455 camera, with the camera joint represented by the actual
|
||||
peripherial camera tripod mount -->
|
||||
<xacro:property name="d455_cam_width" value="0.124"/>
|
||||
<xacro:property name="d455_cam_height" value="0.029"/>
|
||||
<xacro:property name="d455_cam_depth" value="0.026"/>
|
||||
<xacro:property name="d455_cam_mount_from_center_offset" value="0.0158"/>
|
||||
<!-- glass cover is 0.1 mm inwards from front aluminium plate -->
|
||||
<xacro:property name="d455_glass_to_front" value="0.1e-3"/>
|
||||
<!-- see datasheet Revision 009, Fig. 4-4 page 68 -->
|
||||
<xacro:property name="d455_zero_depth_to_glass" value="4.55e-3"/>
|
||||
<!-- convenience precomputation to avoid clutter-->
|
||||
<xacro:property name="d455_mesh_x_offset" value="${d455_cam_mount_from_center_offset-d455_glass_to_front-d455_zero_depth_to_glass}"/>
|
||||
|
||||
<!-- The following offset is relative to the physical d455 camera peripherial
|
||||
camera tripod mount -->
|
||||
<xacro:property name="d455_cam_depth_px" value="${d455_cam_mount_from_center_offset}"/>
|
||||
<xacro:property name="d455_cam_depth_py" value="0.0475"/>
|
||||
<xacro:property name="d455_cam_depth_pz" value="${d455_cam_height/2}"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_bottom_screw_frame" />
|
||||
</joint>
|
||||
<link name="${name}_bottom_screw_frame"/>
|
||||
|
||||
<joint name="${name}_link_joint" type="fixed">
|
||||
<origin xyz="${d455_mesh_x_offset} ${d455_cam_depth_py} ${d455_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_bottom_screw_frame"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
||||
<!-- <origin xyz="${d455_zero_depth_to_glass-d455_cam_depth/2} ${-d455_cam_depth_py} 0" rpy="0 0 0"/> -->
|
||||
<origin xyz="${d455_zero_depth_to_glass + d455_glass_to_front} ${-d455_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<!-- <box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/> -->
|
||||
<mesh filename="package://realsense2_description/meshes/d455.stl" scale="0.001 0.001 0.001" />
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="${d455_zero_depth_to_glass-d455_cam_depth/2} ${-d455_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<mass value="0.072" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${d455_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${d455_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
|
||||
<!-- camera color joints and links -->
|
||||
<joint name="${name}_color_joint" type="fixed">
|
||||
<origin xyz="0 ${d455_cam_depth_to_color_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_color_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_frame"/>
|
||||
|
||||
<joint name="${name}_color_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_color_frame" />
|
||||
<child link="${name}_color_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_optical_frame"/>
|
||||
|
||||
<!-- IMU -->
|
||||
<!-- see datasheet Revision 009, page 114 -->
|
||||
<xacro:property name="d455_imu_px" value="-0.01602"/>
|
||||
<xacro:property name="d455_imu_py" value="-0.03022"/>
|
||||
<xacro:property name="d455_imu_pz" value="+0.0074"/>
|
||||
|
||||
<link name="${name}_accel_frame" />
|
||||
<link name="${name}_accel_optical_frame" />
|
||||
<link name="${name}_gyro_frame" />
|
||||
<link name="${name}_gyro_optical_frame" />
|
||||
<link name="${name}_imu_optical_frame" />
|
||||
|
||||
<joint name="${name}_accel_joint" type="fixed">
|
||||
<origin xyz = "${d455_imu_px} ${d455_imu_py} ${d455_imu_pz}" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_accel_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_accel_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_accel_frame" />
|
||||
<child link="${name}_accel_optical_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_gyro_joint" type="fixed">
|
||||
<origin xyz = "${d455_imu_px} ${d455_imu_py} ${d455_imu_pz}" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_gyro_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_gyro_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_gyro_frame" />
|
||||
<child link="${name}_gyro_optical_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_imu_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "0 0 0" />
|
||||
<parent link="${name}_gyro_optical_frame" />
|
||||
<child link="${name}_imu_optical_frame" />
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:if value="$(arg add_plug)">
|
||||
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
|
||||
<origin xyz="${-0.00406-d455_cam_depth_px} ${-0.03701-d455_cam_depth_py} ${-d455_cam_depth_pz}" rpy="${M_PI/2} 0 0"/>
|
||||
</xacro:usb_plug>
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,243 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense D585 camera, in its
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_d585" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_d585" params="parent *origin name:=camera use_nominal_extrinsics:=false sp_x:=0 sp_y:=0 sp_z:=0 sp_roll:=0 sp_pitch:=0 sp_yaw:=0">
|
||||
<xacro:arg name="add_plug" default="false" />
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="d585_cam_depth_to_infra1_offset" value="0.0"/>
|
||||
<xacro:property name="d585_cam_depth_to_labeled_point_cloud_offset" value="0.0"/>
|
||||
<xacro:property name="d585_cam_depth_to_occupancy_offset" value="0.0"/>
|
||||
<xacro:property name="d585_cam_depth_to_infra2_offset" value="-0.095"/>
|
||||
<xacro:property name="d585_cam_depth_to_color_offset" value="-0.0475"/>
|
||||
|
||||
|
||||
<!-- The following values model the aluminum peripherial case for the
|
||||
d585 camera, with the camera joint represented by the actual
|
||||
peripherial camera tripod mount -->
|
||||
<xacro:property name="d585_cam_width" value="0.182"/>
|
||||
<xacro:property name="d585_cam_height" value="0.043"/>
|
||||
<xacro:property name="d585_cam_depth" value="0.0931"/>
|
||||
|
||||
<xacro:property name="d585_cam_mount_from_center_offset" value="0.042"/> <!-- TODO: Not final numbers, still require refinements -->
|
||||
<xacro:property name="d585_glass_to_front" value="0.1e-3"/> <!-- TODO: Not final numbers, still require refinements -->
|
||||
<xacro:property name="d585_zero_depth_to_glass" value="0.0056"/> <!-- TODO: Not final numbers, still require refinements -->
|
||||
<xacro:property name="d585_mesh_x_offset" value="${d585_cam_mount_from_center_offset-d585_glass_to_front-d585_zero_depth_to_glass}"/>
|
||||
|
||||
<!-- The following offset is relative to the physical d585 camera peripherial
|
||||
camera tripod mount -->
|
||||
<xacro:property name="d585_cam_depth_px" value="${d585_cam_mount_from_center_offset}"/>
|
||||
<xacro:property name="d585_cam_depth_py" value="0.0475"/>
|
||||
<xacro:property name="d585_cam_depth_pz" value="${d585_cam_height/2}"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_bottom_screw_frame" />
|
||||
</joint>
|
||||
<link name="${name}_bottom_screw_frame"/>
|
||||
|
||||
<joint name="${name}_link_joint" type="fixed">
|
||||
<origin xyz="${d585_mesh_x_offset} ${d585_cam_depth_py} ${d585_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_bottom_screw_frame"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
||||
<!-- <origin xyz="${d585_zero_depth_to_glass-d585_cam_depth/2} ${-d585_cam_depth_py} 0" rpy="0 0 0"/> -->
|
||||
<origin xyz="${d585_zero_depth_to_glass + d585_glass_to_front} ${-d585_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<!-- <box size="${d585_cam_depth} ${d585_cam_width} ${d585_cam_height}"/> -->
|
||||
<mesh filename="package://realsense2_description/meshes/d585.stl" scale="0.001 0.001 0.001" />
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="${d585_zero_depth_to_glass-d585_cam_depth/2} ${-d585_cam_depth_py} 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${d585_cam_depth} ${d585_cam_width} ${d585_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<mass value="0.072" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${d585_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${d585_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
|
||||
<!-- camera color joints and links -->
|
||||
<joint name="${name}_color_joint" type="fixed">
|
||||
<origin xyz="0 ${d585_cam_depth_to_color_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_color_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_frame"/>
|
||||
|
||||
<joint name="${name}_color_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_color_frame" />
|
||||
<child link="${name}_color_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_color_optical_frame"/>
|
||||
|
||||
<!-- camera labeled point cloud joints and links -->
|
||||
<joint name="${name}_labeled_point_cloud_joint" type="fixed">
|
||||
<origin xyz="${sp_x} ${sp_y} ${sp_z}" rpy="${sp_roll} ${sp_pitch} ${sp_yaw}" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_labeled_point_cloud_frame" />
|
||||
</joint>
|
||||
<link name="${name}_labeled_point_cloud_frame" />
|
||||
|
||||
<joint name="${name}_labeled_point_cloud_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_labeled_point_cloud_frame" />
|
||||
<child link="${name}_labeled_point_cloud_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_labeled_point_cloud_optical_frame" />
|
||||
|
||||
<!-- camera occupancy joints and links -->
|
||||
<joint name="${name}_occupancy_joint" type="fixed">
|
||||
<origin xyz="${sp_x} ${sp_y} ${sp_z}" rpy="${sp_roll} ${sp_pitch} ${sp_yaw}" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_occupancy_frame" />
|
||||
</joint>
|
||||
<link name="${name}_occupancy_frame" />
|
||||
|
||||
<joint name="${name}_occupancy_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_occupancy_frame" />
|
||||
<child link="${name}_occupancy_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_occupancy_optical_frame" />
|
||||
|
||||
|
||||
<!-- IMU -->
|
||||
<xacro:property name="d585_imu_px" value="0.0114"/> <!-- TODO: Not final numbers, still require refinements -->
|
||||
<xacro:property name="d585_imu_py" value="-0.0195"/> <!-- TODO: Not final numbers, still require refinements -->
|
||||
<xacro:property name="d585_imu_pz" value="0"/> <!-- TODO: Not final numbers, still require refinements -->
|
||||
|
||||
<link name="${name}_accel_frame" />
|
||||
<link name="${name}_accel_optical_frame" />
|
||||
<link name="${name}_gyro_frame" />
|
||||
<link name="${name}_gyro_optical_frame" />
|
||||
<link name="${name}_imu_optical_frame" />
|
||||
|
||||
<joint name="${name}_accel_joint" type="fixed">
|
||||
<origin xyz = "${d585_imu_px} ${d585_imu_py} ${d585_imu_pz}" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_accel_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_accel_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_accel_frame" />
|
||||
<child link="${name}_accel_optical_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_gyro_joint" type="fixed">
|
||||
<origin xyz = "${d585_imu_px} ${d585_imu_py} ${d585_imu_pz}" rpy = "0 0 0" />
|
||||
<parent link="${name}_link" />
|
||||
<child link="${name}_gyro_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_gyro_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_gyro_frame" />
|
||||
<child link="${name}_gyro_optical_frame" />
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_imu_optical_joint" type="fixed">
|
||||
<origin xyz = "0 0 0" rpy = "0 0 0" />
|
||||
<parent link="${name}_gyro_optical_frame" />
|
||||
<child link="${name}_imu_optical_frame" />
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
<!-- Enable this if needed, remember to update xyz
|
||||
<xacro:if value="$(arg add_plug)">
|
||||
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
|
||||
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
|
||||
</xacro:usb_plug>
|
||||
</xacro:if>
|
||||
-->
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
Collection of materials to be used in other macros.
|
||||
This avoids the redefinition of materials in case multple cameras are imported.
|
||||
-->
|
||||
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:property name="realsense_materials_defined" default="false" />
|
||||
<xacro:unless value="${realsense_materials_defined}">
|
||||
<xacro:property name="realsense_materials_defined" value="true" />
|
||||
<material name="aluminum">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<material name="plastic">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</xacro:unless>
|
||||
</robot>
|
||||
@@ -0,0 +1,128 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 410 camera, in it's
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_r410" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_r410" params="parent *origin name:=camera use_nominal_extrinsics:=false">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="r410_cam_depth_to_infra1_offset" value="-0.0275"/>
|
||||
<xacro:property name="r410_cam_depth_to_infra2_offset" value="0.0275"/>
|
||||
|
||||
<!-- The following values model the aluminum peripherial case for the
|
||||
R410 camera, with the camera joint represented by the actual
|
||||
peripherial camera tripod mount -->
|
||||
<xacro:property name="r410_cam_width" value="0.099"/>
|
||||
<xacro:property name="r410_cam_height" value="0.035"/>
|
||||
<xacro:property name="r410_cam_depth" value="0.0185"/>
|
||||
<xacro:property name="r410_cam_mount_from_center_offset" value=".0375"/>
|
||||
|
||||
<!-- The following offset is relative the the physical R410 camera peripherial
|
||||
camera tripod mount -->
|
||||
<xacro:property name="r410_cam_depth_px" value="0.00"/>
|
||||
<xacro:property name="r410_cam_depth_py" value="-0.0425"/>
|
||||
<xacro:property name="r410_cam_depth_pz" value="0.026"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<origin xyz="0 ${-r410_cam_mount_from_center_offset} ${r410_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<box size="${r410_cam_width} ${r410_cam_height} ${r410_cam_depth}"/>
|
||||
<!--<mesh filename="package://realsense2_description/meshes/r410/r410.dae" />-->
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 ${r410_cam_height/2}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${r410_cam_depth} ${r410_cam_width} ${r410_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<mass value="0.564" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="${r410_cam_depth_px} ${r410_cam_depth_py} ${r410_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${r410_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${r410_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,129 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 430 camera, in it's
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="sensor_r430" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Includes -->
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
|
||||
|
||||
<xacro:macro name="sensor_r430" params="parent *origin name:=camera use_nominal_extrinsics:=false">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!-- The following values are approximate, and the camera node
|
||||
publishing TF values with actual calibrated camera extrinsic values -->
|
||||
<xacro:property name="r430_cam_depth_to_infra1_offset" value="-0.025"/>
|
||||
<xacro:property name="r430_cam_depth_to_infra2_offset" value="0.025"/>
|
||||
|
||||
<!-- The following values model the aluminum peripherial case for the
|
||||
R430 camera, with the camera joint represented by the actual
|
||||
peripherial camera tripod mount -->
|
||||
<xacro:property name="r430_cam_width" value="0.105"/>
|
||||
<xacro:property name="r430_cam_height" value="0.039"/>
|
||||
<xacro:property name="r430_cam_depth" value="0.019"/>
|
||||
<xacro:property name="r430_cam_mount_from_center_offset" value=".0275"/>
|
||||
|
||||
<!-- The following offset is relative the the physical R430 camera peripherial
|
||||
camera tripod mount -->
|
||||
<xacro:property name="r430_cam_depth_px" value="0.00"/>
|
||||
<xacro:property name="r430_cam_depth_py" value="-0.035"/>
|
||||
<xacro:property name="r430_cam_depth_pz" value="0.028"/>
|
||||
|
||||
<!-- camera body, with origin at bottom screw mount -->
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}"/>
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<origin xyz="0 ${-r430_cam_mount_from_center_offset} ${r430_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<box size="${r430_cam_width} ${r430_cam_height} ${r430_cam_depth}"/>
|
||||
<!--<mesh filename="package://realsense2_description/meshes/r430/r430.dae" />-->
|
||||
</geometry>
|
||||
<material name="aluminum"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 ${r430_cam_height/2}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${r430_cam_depth} ${r430_cam_width} ${r430_cam_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<!-- The following are not reliable values, and should not be used for modeling -->
|
||||
<mass value="0.564" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
|
||||
<xacro:if value="${use_nominal_extrinsics}">
|
||||
<!-- camera depth joints and links -->
|
||||
<joint name="${name}_depth_joint" type="fixed">
|
||||
<origin xyz="${r430_cam_depth_px} ${r430_cam_depth_py} ${r430_cam_depth_pz}" rpy="0 0 0"/>
|
||||
<parent link="${name}_link"/>
|
||||
<child link="${name}_depth_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_frame"/>
|
||||
|
||||
<joint name="${name}_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_depth_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_depth_optical_frame"/>
|
||||
|
||||
<!-- camera left IR joints and links -->
|
||||
<joint name="${name}_infra1_joint" type="fixed">
|
||||
<origin xyz="0 ${r430_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_infra1_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_frame"/>
|
||||
|
||||
<joint name="${name}_infra1_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra1_frame" />
|
||||
<child link="${name}_infra1_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra1_optical_frame"/>
|
||||
|
||||
<!-- camera right IR joints and links -->
|
||||
<joint name="${name}_infra2_joint" type="fixed">
|
||||
<origin xyz="0 ${r430_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
|
||||
<parent link="${name}_depth_frame" />
|
||||
<child link="${name}_infra2_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_frame"/>
|
||||
|
||||
<joint name="${name}_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
|
||||
<parent link="${name}_infra2_frame" />
|
||||
<child link="${name}_infra2_optical_frame" />
|
||||
</joint>
|
||||
<link name="${name}_infra2_optical_frame"/>
|
||||
|
||||
</xacro:if>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,52 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
-->
|
||||
|
||||
<!--
|
||||
This is the URDF model for the RealSense 415 camera, in it's
|
||||
aluminum peripherial evaluation case.
|
||||
-->
|
||||
|
||||
<robot name="usb_plug" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:macro name="usb_plug" params="parent *origin name:=usb_plug">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<joint name="${name}_joint" type="fixed">
|
||||
<xacro:insert_block name="origin" />
|
||||
<parent link="${parent}" />
|
||||
<child link="${name}_link" />
|
||||
</joint>
|
||||
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<!-- 0.044850 0.008000 0.018500 -->
|
||||
<origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<!--box size="0.044850 0.008 0.0185" /-->
|
||||
<mesh filename="package://realsense2_description/meshes/plug.stl" />
|
||||
</geometry>
|
||||
<material name="plastic"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
|
||||
<geometry>
|
||||
<!--box size="0.044850 0.008 0.0185" /-->
|
||||
<mesh filename="package://realsense2_description/meshes/plug_collision.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,10 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d405.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d405 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d405>
|
||||
</robot>
|
||||
@@ -0,0 +1,12 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false" />
|
||||
<xacro:arg name="add_plug" default="false" />
|
||||
<xacro:arg name="use_mesh" default="true" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d415.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d415 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)" use_mesh="$(arg use_mesh)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d415>
|
||||
</robot>
|
||||
@@ -0,0 +1,12 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:arg name="add_plug" default="false" />
|
||||
<xacro:arg name="use_mesh" default="true" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d435 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)" use_mesh="$(arg use_mesh)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d435>
|
||||
</robot>
|
||||
@@ -0,0 +1,14 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d435 parent="base_link" name="camera1" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
|
||||
<origin xyz="0.1 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d435>
|
||||
|
||||
<xacro:sensor_d435 parent="base_link" name="camera2" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
|
||||
<origin xyz="-0.1 0 0" rpy="0 0 3.1456"/>
|
||||
</xacro:sensor_d435>
|
||||
</robot>
|
||||
@@ -0,0 +1,11 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d435i parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d435i>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:arg name="add_plug" default="false" />
|
||||
<xacro:arg name="use_mesh" default="true" />
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d436.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d436 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)" use_mesh="$(arg use_mesh)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d436>
|
||||
</robot>
|
||||
@@ -0,0 +1,10 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d455.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d455 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d455>
|
||||
</robot>
|
||||
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_d585.urdf.xacro" />
|
||||
<xacro:arg name="sp_x" default="0.0"/>
|
||||
<xacro:arg name="sp_y" default="0.0"/>
|
||||
<xacro:arg name="sp_z" default="0.0"/>
|
||||
<xacro:arg name="sp_roll" default="0.0"/>
|
||||
<xacro:arg name="sp_pitch" default="0.0"/>
|
||||
<xacro:arg name="sp_yaw" default="0.0"/>
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_d585 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" sp_x="$(arg sp_x)" sp_y="$(arg sp_y)" sp_z="$(arg sp_z)" sp_roll="$(arg sp_roll)" sp_pitch="$(arg sp_pitch)" sp_yaw="$(arg sp_yaw)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_d585>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_r410.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_r410 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_r410>
|
||||
</robot>
|
||||
@@ -0,0 +1,10 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="use_nominal_extrinsics" default="false"/>
|
||||
<xacro:include filename="$(find realsense2_description)/urdf/_r430.urdf.xacro" />
|
||||
|
||||
<link name="base_link" />
|
||||
<xacro:sensor_r430 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</xacro:sensor_r430>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user