Added new files for Kinect2

robofit · Jan 17, 2016 · 9d0fa2a · 9d0fa2a
1 parent 7623657
commit 9d0fa2a
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Showing 4 changed files with 3 additions and 4 deletions.
diff --git a/pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL b/pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL
diff --git a/pr2_description/robots/pr2_kinect2.urdf.xacro b/pr2_description/robots/pr2_kinect2.urdf.xacro
@@ -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="$(find pr2_description)/urdf/sensors/kinect2.urdf.xacro" />
+  <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2_v0/kinect2.urdf.xacro" />
   <!-- Camera sensors -->
   <xacro:include filename="$(find pr2_description)/urdf/sensors/wge100_camera.urdf.xacro" />
   <!-- Texture projector -->

diff --git a/test.launch → pr2_description/test/test.launch b/test.launch → pr2_description/test/test.launch
diff --git a/pr2_description/urdf/sensors/kinect2.urdf.xacro b/pr2_description/urdf/sensors/kinect2.urdf.xacro
@@ -2,7 +2,6 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <!-- Instead of making a xacro for each individual component, create one .STL for the frame, mount and the Kinect2 -->
   <!-- Multiple components is also likely the cause of the tf linking problem -->
-  <!-- Jeff is making the CAD file for the assembly -->
   <!-- Depending on where origin is for the mesh, a joint and link may be needed for the camera/ir sensor -->
   <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2.gazebo.xacro" />
 
@@ -28,7 +27,7 @@
       <visual>
         <origin xyz="0 -0.138 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
-          <mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/kinect2_mount.STL" scale="0.001 0.001 0.001" />
+          <mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <material name="gray">
           <color rgba="0.5 0.5 0.5 1"/>
@@ -100,7 +99,7 @@
           <material name="black">
             <color rgba="0.05 0.05 0.05 1"/>
           </material>
-        </geometry>
+        </geometry>  if [ $V \< 13.10 ]; then
       </visual>
 
       <collision>