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Add custom xarm packages

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This commit is contained in:
Nicolas Hiillos
2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
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src/custom_xarm_description/urdf/camera/realsense_d435i.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="d435i_urdf" params="prefix:=''">
<xacro:property name="M_PI" value="3.1415926535897931" />
<link name="${prefix}link_eef">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file:///$(find xarm_description)/meshes/camera/realsense/visual/d435_with_cam_stand.STL"/>
</geometry>
<material name="${prefix}Silver" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file:///$(find xarm_description)/meshes/camera/realsense/collision/d435_with_cam_stand.STL"/>
</geometry>
</collision>
</link>
<link name="${prefix}camera_link"></link>
<link name="${prefix}camera_depth_frame"></link>
<link name="${prefix}camera_depth_optical_frame"></link>
<link name="${prefix}camera_color_frame"></link>
<link name="${prefix}camera_color_optical_frame"></link>
<link name="${prefix}camera_left_ir_frame"></link>
<link name="${prefix}camera_left_ir_optical_frame"></link>
<link name="${prefix}camera_right_ir_frame"></link>
<link name="${prefix}camera_right_ir_optical_frame"></link>
<joint name="${prefix}camera_link_joint" type="fixed">
<parent link="${prefix}link_eef" />
<child link="${prefix}camera_link" />
<!-- <origin xyz="0.067985 0 0.02725" rpy="0 ${-M_PI/2} 0" /> -->
<origin xyz="0.06746 0 0.0205" rpy="0 ${-M_PI/2} 0" />
</joint>
<joint name="${prefix}camera_depth_joint" type="fixed">
<parent link="${prefix}camera_link" />
<child link="${prefix}camera_depth_frame" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<joint name="${prefix}camera_depth_optical_joint" type="fixed">
<parent link="${prefix}camera_depth_frame" />
<child link="${prefix}camera_depth_optical_frame" />
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
</joint>
<joint name="${prefix}camera_color_joint" type="fixed">
<parent link="${prefix}camera_link" />
<child link="${prefix}camera_color_frame" />
<origin xyz="0 0.015 0" rpy="0 0 0" />
</joint>
<joint name="${prefix}camera_color_optical_joint" type="fixed">
<parent link="${prefix}camera_color_frame" />
<child link="${prefix}camera_color_optical_frame" />
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
</joint>
<joint name="${prefix}camera_left_ir_joint" type="fixed">
<parent link="${prefix}camera_link" />
<child link="${prefix}camera_left_ir_frame" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<joint name="${prefix}camera_left_ir_optical_joint" type="fixed">
<parent link="${prefix}camera_left_ir_frame" />
<child link="${prefix}camera_left_ir_optical_frame" />
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
</joint>
<joint name="${prefix}camera_right_ir_joint" type="fixed">
<parent link="${prefix}camera_link" />
<child link="${prefix}camera_right_ir_frame" />
<origin xyz="0 -0.050 0" rpy="0 0 0" />
</joint>
<joint name="${prefix}camera_right_ir_optical_joint" type="fixed">
<parent link="${prefix}camera_right_ir_frame" />
<child link="${prefix}camera_right_ir_optical_frame" />
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
</joint>
</xacro:macro>
</robot>