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Changed name of assembly file, added camera and depth sensor frames.
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@archielee
archielee committed Jan 19, 2016
1 parent 9d0fa2a commit 7fd05a2
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Showing 7 changed files with 3,796 additions and 118 deletions.
Binary file removed pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL
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Binary file added pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL
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2 changes: 1 addition & 1 deletion pr2_description/robots/pr2_kinect2.urdf.xacro
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Expand Up @@ -20,7 +20,7 @@
<xacro:include filename="$(find pr2_description)/urdf/base_v0/base.urdf.xacro" />
<!-- Head sensors -->
<xacro:include filename="$(find pr2_description)/urdf/sensors/head_sensor_package.urdf.xacro" />
<xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2_v0/kinect2.urdf.xacro" />
<xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2.urdf.xacro" />
<!-- Camera sensors -->
<xacro:include filename="$(find pr2_description)/urdf/sensors/wge100_camera.urdf.xacro" />
<!-- Texture projector -->
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3,784 changes: 3,784 additions & 0 deletions pr2_description/test.urdf
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2 changes: 1 addition & 1 deletion pr2_description/test/test.launch
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Expand Up @@ -6,4 +6,4 @@
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />
</launch>
</launch>
34 changes: 0 additions & 34 deletions pr2_description/urdf/sensors/iai_kinect2.urdf.xacro
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Expand Up @@ -31,39 +31,5 @@
</visual>
</link>

<!-- sensor frames - not sure how different from Kinect2 they are (from original Kinect) -->

<joint name="${name}_rgb_joint" type="fixed">
<origin xyz="0.0 -0.045 0.0" rpy="0.0 0.0 0.0"/>
<parent link="${name}_link"/>
<child link="${name}_rgb_frame"/>
</joint>

<link name="${name}_rgb_frame"/>

<joint name="${name}_rgb_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2.0} 0.0 ${-M_PI/2.0}"/>
<parent link="${name}_rgb_frame"/>
<child link="${name}_rgb_optical_frame"/>
</joint>

<link name="${name}_rgb_optical_frame"/>

<joint name="${name}_depth_joint" type="fixed">
<origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
<parent link="${name}_link"/>
<child link="${name}_depth_frame"/>
</joint>

<link name="${name}_depth_frame"/>

<joint name="${name}_depth_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2.0} 0.0 ${-M_PI/2.0}"/>
<parent link="${name}_depth_frame"/>
<child link="${name}_depth_optical_frame"/>
</joint>

<link name="${name}_depth_optical_frame"/>

</xacro:macro>
</robot>
92 changes: 10 additions & 82 deletions pr2_description/urdf/sensors/kinect2.urdf.xacro
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Expand Up @@ -10,9 +10,7 @@
<!-- frame + Kinect2 mount + Kinect2 combo -->
<xacro:macro name="kinect2_v0" params="name parent *origin">
<joint name="${name}_joint" type="fixed">
<!-- <limit lower="0.1" upper="0.1" effort="10000" velocity="100.0"/> -->
<insert_block name="origin" />
<!-- <origin xyz="-0.228 -0.148 0.091" rpy="${M_PI/2} 0 ${M_PI/2}"/> -->
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
Expand All @@ -25,9 +23,9 @@
izz="0.01" />
</inertial>
<visual>
<origin xyz="0 -0.138 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
<origin xyz="-0.102 -0.148 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL" scale="0.001 0.001 0.001" />
</geometry>
<material name="gray">
<color rgba="0.5 0.5 0.5 1"/>
Expand All @@ -41,80 +39,10 @@
</collision>
</link>

<joint name="${name}_bracket_joint" type="fixed">
<origin xyz="0.148 0.128 0.0321" rpy="${M_PI} ${M_PI} ${M_PI}"/>
<parent link="${name}_link"/>
<child link="${name}_bracket_link"/>
</joint>
<link name="${name}_bracket_link">

<inertial>
<mass value="0.1"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/kinect2_bracket.STL" />
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.0005"/>
</geometry>
</collision>

</link>

<!-- plugin for updating structure pose \
<xacro:kinect_prosilica_gazebo joint_name="${name}_kinect_prosilica_joint"
link_name="${name}_kinect_prosilica_link" />
-->

<joint name="${name}_kinect2_joint" type="fixed">
<origin xyz="0 0.0255 0.01" rpy="0 0 0"/>
<parent link="${name}_bracket_link"/>
<child link="${name}_kinect2_link"/>
</joint>
<link name="${name}_kinect2_link">

<inertial>
<mass value="0.1"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01"/>
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.25 0.043 0.067"/>
<material name="black">
<color rgba="0.05 0.05 0.05 1"/>
</material>
</geometry> if [ $V \< 13.10 ]; then
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.0005"/>
</geometry>
</collision>

</link>


<!-- kinect2 ir sensor physical attachment -->
<joint name="${name}_kinect2_ir_joint" type="fixed">
<origin xyz="-0.032267 0.0125 0.136453" rpy="0 0 0"/>
<origin xyz="-0.032267 -0.0475 0.155" rpy="0 0 0"/>
<parent link="${name}_link"/>
<child link="${name}_kinect2_ir_link"/>
</joint>
Expand All @@ -140,23 +68,23 @@
</collision>
</link>
<!-- kinect2 ir sensor frame -->
<joint name="${name}_kinect2_ir_optical_frame_joint" type="fixed">
<!-- <joint name="${name}_kinect2_ir_optical_frame_joint" type="fixed">
<origin xyz="${cal_kinect_x} ${cal_kinect_y + ir_depth_rgb_offset_y} ${cal_kinect_z}"
rpy="${-M_PI/2+cal_kinect_roll} ${0.0+cal_kinect_pitch} ${-M_PI/2+cal_kinect_yaw}" />
<parent link="${name}_kinect2_ir_link"/>
<child link="${name}_kinect2_ir_optical_frame"/>
</joint>
<link name="${name}_kinect2_ir_optical_frame"/>
<link name="${name}_kinect2_ir_optical_frame"/> -->
<!-- gazebo extensions -->
<xacro:kinect2_ir_gazebo_v0 link_name="${name}_kinect2_ir_link" frame_name="${name}_kinect2_ir_optical_frame" camera_name="head_mount_kinect2" />
<!-- <xacro:kinect2_ir_gazebo_v0 link_name="${name}_kinect2_ir_link" frame_name="${name}_kinect2_ir_optical_frame" camera_name="head_mount_kinect2" /> -->




<!-- kinect2 rgb sensor physical attachment -->
<joint name="${name}_kinect2_rgb_joint" type="fixed">
<origin xyz="0 -0.03 0" rpy="0 0 0"/>
<origin xyz="0 -0.052 0" rpy="0 0 0"/>
<parent link="${name}_kinect2_ir_link"/>
<child link="${name}_kinect2_rgb_link"/>
</joint>
Expand Down Expand Up @@ -184,16 +112,16 @@
</link>

<!-- kinect2 rgb sensor frame -->
<joint name="${name}_kinect2_rgb_optical_frame_joint" type="fixed">
<!-- <joint name="${name}_kinect2_rgb_optical_frame_joint" type="fixed">
<origin xyz="${cal_kinect_x} ${cal_kinect_y} ${cal_kinect_z}"
rpy="${-M_PI/2+cal_kinect_roll} ${0.0+cal_kinect_pitch} ${-M_PI/2+cal_kinect_yaw}" />
<parent link="${name}_kinect2_rgb_link"/>
<child link="${name}_kinect2_rgb_optical_frame"/>
</joint>
<link name="${name}_kinect2_rgb_optical_frame"/>
<link name="${name}_kinect2_rgb_optical_frame"/> -->
<!-- gazebo extensions -->
<xacro:kinect2_rgb_gazebo_v0 link_name="${name}_kinect2_rgb_link" frame_name="${name}_kinect2_rgb_optical_frame" camera_name="head_mount_kinect2" />
<!-- <xacro:kinect2_rgb_gazebo_v0 link_name="${name}_kinect2_rgb_link" frame_name="${name}_kinect2_rgb_optical_frame" camera_name="head_mount_kinect2" /> -->

</xacro:macro>

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