mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-27 17:35:46 +00:00
76 lines
3.2 KiB
Plaintext
76 lines
3.2 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot name="depthai_camera"
|
||
|
|
xmlns:xacro="http://ros.org/wiki/xacro">
|
||
|
|
|
||
|
|
<xacro:macro name="depthai_camera" params="camera_name camera_model parent base_frame
|
||
|
|
cam_pos_x cam_pos_y cam_pos_z
|
||
|
|
cam_roll cam_pitch cam_yaw r:=0.8 g:=0.8 b:=0.8 a:=0.8 ">
|
||
|
|
|
||
|
|
<xacro:include filename="$(find cps_rmp220_support)/description/include/base_macro.urdf.xacro"/>
|
||
|
|
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||
|
|
<xacro:property name="model" value="${camera_model}" />
|
||
|
|
<xacro:property name="has_imu" value="false" />
|
||
|
|
<xacro:property name="baseline" value="0.075" />
|
||
|
|
|
||
|
|
<xacro:if value="${model == 'OAK-D'}">
|
||
|
|
<xacro:property name="has_imu" value="true" />
|
||
|
|
</xacro:if>
|
||
|
|
|
||
|
|
<xacro:base camera_name = "$(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}"/>
|
||
|
|
|
||
|
|
<!-- RGB Camera -->
|
||
|
|
<link name="${camera_name}_rgb_camera_frame" />
|
||
|
|
|
||
|
|
<joint name="${camera_name}_rgb_camera_joint" type="fixed">
|
||
|
|
<parent link="${base_frame}"/>
|
||
|
|
<child link="${camera_name}_rgb_camera_frame"/>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${camera_name}_rgb_camera_optical_frame"/>
|
||
|
|
|
||
|
|
<joint name="${camera_name}_rgb_camera_optical_joint" type="fixed">
|
||
|
|
<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
|
||
|
|
<parent link="${camera_name}_rgb_camera_frame"/>
|
||
|
|
<child link="${camera_name}_rgb_camera_optical_frame"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- Left Camera -->
|
||
|
|
<link name="${camera_name}_left_camera_frame" />
|
||
|
|
|
||
|
|
<joint name="${camera_name}_left_camera_joint" type="fixed">
|
||
|
|
<parent link="${base_frame}"/>
|
||
|
|
<child link="${camera_name}_left_camera_frame"/>
|
||
|
|
<origin xyz="0 ${baseline/2} 0" rpy="0 0 0" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${camera_name}_left_camera_optical_frame"/>
|
||
|
|
|
||
|
|
<joint name="${camera_name}_left_camera_optical_joint" type="fixed">
|
||
|
|
<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
|
||
|
|
<parent link="${camera_name}_left_camera_frame"/>
|
||
|
|
<child link="${camera_name}_left_camera_optical_frame"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
|
||
|
|
<!-- right Camera -->
|
||
|
|
<link name="${camera_name}_right_camera_frame" />
|
||
|
|
|
||
|
|
<joint name="${camera_name}_right_camera_joint" type="fixed">
|
||
|
|
<parent link="${base_frame}"/>
|
||
|
|
<child link="${camera_name}_right_camera_frame"/>
|
||
|
|
<origin xyz="0 -${baseline/2} 0" rpy="0 0 0" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${camera_name}_right_camera_optical_frame"/>
|
||
|
|
|
||
|
|
<joint name="${camera_name}_right_camera_optical_joint" type="fixed">
|
||
|
|
<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
|
||
|
|
<parent link="${camera_name}_right_camera_frame"/>
|
||
|
|
<child link="${camera_name}_right_camera_optical_frame"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
|
||
|
|
</xacro:macro>
|
||
|
|
|
||
|
|
</robot>
|