urdf: added realsense xacro macro

westonrobot · Jul 17, 2024 · 0b05c6f · 0b05c6f
1 parent fdbd584
commit 0b05c6f
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Showing 3 changed files with 21 additions and 13 deletions.
diff --git a/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit.urdf.xacro b/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit.urdf.xacro
@@ -6,9 +6,9 @@
   <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <xacro:arg name="front_camera" default="realsense_d435"/>
-  <xacro:arg name="rear_camera" default="realsense_d435"/>
-  <xacro:arg name="left_camera" default="realsense_d435"/>
-  <xacro:arg name="right_camera" default="realsense_d435"/>
+  <xacro:arg name="rear_camera" default="rgb_camera"/>
+  <xacro:arg name="left_camera" default="rgb_camera"/>
+  <xacro:arg name="right_camera" default="rgb_camera"/>
 
   <material name="silver">
     <color rgba="0.700 0.700 0.700 1.000"/>

diff --git a/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit_macro.urdf.xacro b/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit_macro.urdf.xacro
@@ -3,10 +3,18 @@
 
   <xacro:macro name="perception_kit" params="camera_pos camera_type *origin">
 
+    <xacro:arg name="use_nominal_extrinsics" default="false"/>
+    <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
     <xacro:property name="type" value="${camera_type}" />
 
-    <xacro:if value="${type in ['realsense_d435', 'rgb_camera']}">
-      <link name="${camera_pos}_camera_link">
+    <xacro:if value="${type in ['realsense_d435']}">
+      <xacro:sensor_d435 parent="perception_kit_base_link" name="camera1" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+        <origin xyz="0.1 0 0" rpy="0 0 0"/>
+      </xacro:sensor_d435>
+    </xacro:if>
+
+    <xacro:if value="${type in ['rgb_camera']}">
+      <link name="${camera_pos}_rgb_camera_link">
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>

diff --git a/src/wr_devkit_bringup/launch/platform/wr_devkit_platform.launch.py b/src/wr_devkit_bringup/launch/platform/wr_devkit_platform.launch.py
@@ -167,14 +167,14 @@ def generate_launch_description():
             ]),
             condition=IfCondition(camera)
         ),
-        Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            name='ugv_devkit_v1_base_link_to_base_camera',
-            arguments=['--x', '0.0', '--y', '0.0', '--z', '0.150',
-                    '--yaw', '0', '--pitch', '0', '--roll', '0',
-                    '--frame-id', 'ugv_devkit_v1_base_link', '--child-frame-id', 'camera_link']
-        )
+        # Node(
+        #     package='tf2_ros',
+        #     executable='static_transform_publisher',
+        #     name='ugv_devkit_v1_base_link_to_base_camera',
+        #     arguments=['--x', '0.0', '--y', '0.0', '--z', '0.150',
+        #             '--yaw', '0', '--pitch', '0', '--roll', '0',
+        #             '--frame-id', 'ugv_devkit_v1_base_link', '--child-frame-id', 'camera_link']
+        # )
     ])
 
     return LaunchDescription([