mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-12-03 12:05:27 +00:00
76 lines
3.2 KiB
Plaintext
76 lines
3.2 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="depthai_camera"
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xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="depthai_camera" params="camera_name camera_model parent base_frame
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cam_pos_x cam_pos_y cam_pos_z
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cam_roll cam_pitch cam_yaw r:=0.8 g:=0.8 b:=0.8 a:=0.8 ">
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<xacro:include filename="$(find cps_rmp220_support)/description/include/base_macro.urdf.xacro"/>
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<xacro:property name="M_PI" value="3.1415926535897931" />
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<xacro:property name="model" value="${camera_model}" />
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<xacro:property name="has_imu" value="false" />
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<xacro:property name="baseline" value="0.075" />
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<xacro:if value="${model == 'OAK-D'}">
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<xacro:property name="has_imu" value="true" />
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</xacro:if>
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<xacro:base camera_name = "$(arg camera_name)" parent = "$(arg parent_frame)" camera_model = "$(arg camera_model)" base_frame = "$(arg base_frame)" cam_pos_x = "$(arg cam_pos_x)" cam_pos_y = "$(arg cam_pos_y)" cam_pos_z = "$(arg cam_pos_z)" cam_roll = "$(arg cam_roll)" cam_pitch = "$(arg cam_pitch)" cam_yaw = "$(arg cam_yaw)" has_imu="${has_imu}"/>
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<!-- RGB Camera -->
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<link name="${camera_name}_rgb_camera_frame" />
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<joint name="${camera_name}_rgb_camera_joint" type="fixed">
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<parent link="${base_frame}"/>
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<child link="${camera_name}_rgb_camera_frame"/>
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<link name="${camera_name}_rgb_camera_optical_frame"/>
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<joint name="${camera_name}_rgb_camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
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<parent link="${camera_name}_rgb_camera_frame"/>
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<child link="${camera_name}_rgb_camera_optical_frame"/>
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</joint>
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<!-- Left Camera -->
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<link name="${camera_name}_left_camera_frame" />
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<joint name="${camera_name}_left_camera_joint" type="fixed">
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<parent link="${base_frame}"/>
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<child link="${camera_name}_left_camera_frame"/>
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<origin xyz="0 ${baseline/2} 0" rpy="0 0 0" />
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</joint>
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<link name="${camera_name}_left_camera_optical_frame"/>
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<joint name="${camera_name}_left_camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
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<parent link="${camera_name}_left_camera_frame"/>
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<child link="${camera_name}_left_camera_optical_frame"/>
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</joint>
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<!-- right Camera -->
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<link name="${camera_name}_right_camera_frame" />
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<joint name="${camera_name}_right_camera_joint" type="fixed">
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<parent link="${base_frame}"/>
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<child link="${camera_name}_right_camera_frame"/>
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<origin xyz="0 -${baseline/2} 0" rpy="0 0 0" />
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</joint>
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<link name="${camera_name}_right_camera_optical_frame"/>
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<joint name="${camera_name}_right_camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
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<parent link="${camera_name}_right_camera_frame"/>
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<child link="${camera_name}_right_camera_optical_frame"/>
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</joint>
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</xacro:macro>
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</robot>
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