Add custom xarm packages
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127
src/custom_xarm_description/urdf/camera/realsense.gazebo.xacro
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127
src/custom_xarm_description/urdf/camera/realsense.gazebo.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="realsense_gazebo" params="prefix">
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<gazebo reference="${prefix}camera_depth_frame">
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<sensor name="cameradepth" type="depth">
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<camera name="camera">
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<horizontal_fov>1.57</horizontal_fov>
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<image>
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<width>1280</width>
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<height>720</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.100</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>0</visualize>
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</sensor>
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</gazebo>
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<gazebo reference="${prefix}camera_color_frame">
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<sensor name="cameracolor" type="camera">
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<camera name="camera">
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<horizontal_fov>1.57</horizontal_fov>
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<image>
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<width>1280</width>
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<height>720</height>
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<format>RGB_INT8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>1</visualize>
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</sensor>
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</gazebo>
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<gazebo reference="${prefix}camera_left_ir_frame">
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<sensor name="cameraired1" type="camera">
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<camera name="camera">
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<horizontal_fov>1.57</horizontal_fov>
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<image>
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<width>1280</width>
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<height>720</height>
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<format>L_INT8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.05</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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<visualize>0</visualize>
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</sensor>
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</gazebo>
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<gazebo reference="${prefix}camera_right_ir_frame">
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<sensor name="cameraired2" type="camera">
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<camera name="camera">
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<horizontal_fov>1.57</horizontal_fov>
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<image>
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<width>1280</width>
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<height>720</height>
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<format>L_INT8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.05</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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<visualize>0</visualize>
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</sensor>
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</gazebo>
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<gazebo>
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<plugin name="realsense_gazebo_camera" filename="librealsense_gazebo_plugin.so">
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<prefix>camera</prefix>
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<depthUpdateRate>30.0</depthUpdateRate>
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<colorUpdateRate>30.0</colorUpdateRate>
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<infraredUpdateRate>1.0</infraredUpdateRate>
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<depthTopicName>aligned_depth_to_color/image_raw</depthTopicName>
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<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
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<colorTopicName>color/image_raw</colorTopicName>
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<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
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<infrared1TopicName>infra1/image_raw</infrared1TopicName>
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<infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
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<infrared2TopicName>infra2/image_raw</infrared2TopicName>
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<infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
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<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
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<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
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<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
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<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
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<rangeMinDepth>0.3</rangeMinDepth>
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<rangeMaxDepth>3.0</rangeMaxDepth>
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<pointCloud>true</pointCloud>
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<pointCloudTopicName>depth/color/points</pointCloudTopicName>
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<pointCloudCutoff>0.3</pointCloudCutoff>
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</plugin>
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</gazebo>
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</xacro:macro>
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</robot>
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="d435i_urdf" params="prefix:=''">
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<xacro:property name="M_PI" value="3.1415926535897931" />
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<link name="${prefix}link_eef">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="file:///$(find xarm_description)/meshes/camera/realsense/visual/d435_with_cam_stand.STL"/>
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</geometry>
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<material name="${prefix}Silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="file:///$(find xarm_description)/meshes/camera/realsense/collision/d435_with_cam_stand.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="${prefix}camera_link"></link>
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<link name="${prefix}camera_depth_frame"></link>
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<link name="${prefix}camera_depth_optical_frame"></link>
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<link name="${prefix}camera_color_frame"></link>
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<link name="${prefix}camera_color_optical_frame"></link>
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<link name="${prefix}camera_left_ir_frame"></link>
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<link name="${prefix}camera_left_ir_optical_frame"></link>
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<link name="${prefix}camera_right_ir_frame"></link>
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<link name="${prefix}camera_right_ir_optical_frame"></link>
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<joint name="${prefix}camera_link_joint" type="fixed">
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<parent link="${prefix}link_eef" />
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<child link="${prefix}camera_link" />
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<!-- <origin xyz="0.067985 0 0.02725" rpy="0 ${-M_PI/2} 0" /> -->
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<origin xyz="0.06746 0 0.0205" rpy="0 ${-M_PI/2} 0" />
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</joint>
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<joint name="${prefix}camera_depth_joint" type="fixed">
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<parent link="${prefix}camera_link" />
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<child link="${prefix}camera_depth_frame" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<joint name="${prefix}camera_depth_optical_joint" type="fixed">
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<parent link="${prefix}camera_depth_frame" />
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<child link="${prefix}camera_depth_optical_frame" />
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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</joint>
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<joint name="${prefix}camera_color_joint" type="fixed">
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<parent link="${prefix}camera_link" />
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<child link="${prefix}camera_color_frame" />
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<origin xyz="0 0.015 0" rpy="0 0 0" />
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</joint>
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<joint name="${prefix}camera_color_optical_joint" type="fixed">
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<parent link="${prefix}camera_color_frame" />
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<child link="${prefix}camera_color_optical_frame" />
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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</joint>
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<joint name="${prefix}camera_left_ir_joint" type="fixed">
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<parent link="${prefix}camera_link" />
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<child link="${prefix}camera_left_ir_frame" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<joint name="${prefix}camera_left_ir_optical_joint" type="fixed">
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<parent link="${prefix}camera_left_ir_frame" />
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<child link="${prefix}camera_left_ir_optical_frame" />
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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</joint>
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<joint name="${prefix}camera_right_ir_joint" type="fixed">
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<parent link="${prefix}camera_link" />
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<child link="${prefix}camera_right_ir_frame" />
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<origin xyz="0 -0.050 0" rpy="0 0 0" />
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</joint>
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<joint name="${prefix}camera_right_ir_optical_joint" type="fixed">
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<parent link="${prefix}camera_right_ir_frame" />
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<child link="${prefix}camera_right_ir_optical_frame" />
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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</joint>
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</xacro:macro>
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</robot>
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