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luis-cameroluis-camero
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Feature: Add Realsense d405 to URDF (#382)
* Add Realsense d405 to URDF * Add newline EoF
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‎clearpath_sensors_description/urdf/intel/d405.urdf.xacro‎

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<?xml version="1.0"?>
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<!--
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# Copyright 2023 RealSense, Inc. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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-->
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<!--
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This is the URDF model for the RealSense 405 camera, in its
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aluminum peripherial evaluation case.
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-->
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<robot name="sensor_d405" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- Includes -->
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<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
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<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
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<xacro:macro name="sensor_d405" params="parent *origin name:=camera use_nominal_extrinsics:=false">
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<xacro:arg name="add_plug" default="false" />
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<xacro:property name="M_PI" value="3.1415926535897931" />
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<!-- The following values are approximate, and the camera node
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publishing TF values with actual calibrated camera extrinsic values -->
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<xacro:property name="d405_cam_depth_to_infra1_offset" value="0.0"/>
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<xacro:property name="d405_cam_depth_to_infra2_offset" value="-0.018"/>
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<xacro:property name="d405_cam_depth_to_color_offset" value="0.0"/>
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<!-- The following values model the aluminum peripherial case for the
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d405 camera, with the camera joint represented by the actual
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peripherial camera tripod mount -->
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<xacro:property name="d405_cam_width" value="0.042"/>
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<xacro:property name="d405_cam_height" value="0.042"/>
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<xacro:property name="d405_cam_depth" value="0.023"/>
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<xacro:property name="d405_cam_mount_from_center_offset" value="0.01465"/>
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<!-- glass cover is 0.1 mm inwards from front aluminium plate -->
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<xacro:property name="d405_glass_to_front" value="0.1e-3"/>
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<!-- see datasheet Revision 017, Table. 4-16 page 97 -->
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<xacro:property name="d405_zero_depth_to_glass" value="3.7e-3"/>
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<!-- convenience precomputation to avoid clutter-->
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<xacro:property name="d405_mesh_x_offset" value="${d405_cam_mount_from_center_offset-d405_glass_to_front-d405_zero_depth_to_glass}"/>
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<!-- The following offset is relative to the physical d405 camera peripherial
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camera tripod mount -->
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<xacro:property name="d405_cam_depth_px" value="${d405_cam_mount_from_center_offset}"/>
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<xacro:property name="d405_cam_depth_py" value="0.009"/>
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<xacro:property name="d405_cam_depth_pz" value="${d405_cam_height/2}"/>
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<!-- camera body, with origin at bottom screw mount -->
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<joint name="${name}_joint" type="fixed">
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<xacro:insert_block name="origin" />
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<parent link="${parent}"/>
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<child link="${name}_bottom_screw_frame" />
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</joint>
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<link name="${name}_bottom_screw_frame"/>
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<joint name="${name}_link_joint" type="fixed">
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<origin xyz="${d405_mesh_x_offset} ${d405_cam_depth_py} ${d405_cam_depth_pz}" rpy="0 0 0"/>
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<parent link="${name}_bottom_screw_frame"/>
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<child link="${name}_link" />
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</joint>
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<link name="${name}_link">
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<visual>
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<!-- the mesh origin is at front plate in between the two infrared camera axes -->
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<origin xyz="${d405_zero_depth_to_glass + d405_glass_to_front} ${-d405_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
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<geometry>
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<mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="aluminum"/>
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</visual>
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<collision>
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<origin xyz="${d405_zero_depth_to_glass-d405_cam_depth/2} ${-d405_cam_depth_py} 0" rpy="0 0 0"/>
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<geometry>
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<box size="${d405_cam_depth} ${d405_cam_width} ${d405_cam_height}"/>
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</geometry>
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</collision>
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<inertial>
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<!-- The following are not reliable values, and should not be used for modeling -->
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<mass value="0.072" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
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</inertial>
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</link>
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<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
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<xacro:if value="${use_nominal_extrinsics}">
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<!-- camera depth joints and links -->
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<joint name="${name}_depth_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="${name}_link"/>
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<child link="${name}_depth_frame" />
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</joint>
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<link name="${name}_depth_frame"/>
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<joint name="${name}_depth_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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<parent link="${name}_depth_frame" />
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<child link="${name}_depth_optical_frame" />
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</joint>
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<link name="${name}_depth_optical_frame"/>
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<!-- camera left IR joints and links -->
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<joint name="${name}_infra1_joint" type="fixed">
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<origin xyz="0 ${d405_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
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<parent link="${name}_link" />
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<child link="${name}_infra1_frame" />
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</joint>
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<link name="${name}_infra1_frame"/>
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<joint name="${name}_infra1_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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<parent link="${name}_infra1_frame" />
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<child link="${name}_infra1_optical_frame" />
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</joint>
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<link name="${name}_infra1_optical_frame"/>
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<!-- camera right IR joints and links -->
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<joint name="${name}_infra2_joint" type="fixed">
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<origin xyz="0 ${d405_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
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<parent link="${name}_link" />
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<child link="${name}_infra2_frame" />
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</joint>
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<link name="${name}_infra2_frame"/>
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<joint name="${name}_infra2_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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<parent link="${name}_infra2_frame" />
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<child link="${name}_infra2_optical_frame" />
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</joint>
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<link name="${name}_infra2_optical_frame"/>
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<!-- camera color joints and links -->
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<joint name="${name}_color_joint" type="fixed">
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<origin xyz="0 ${d405_cam_depth_to_color_offset} 0" rpy="0 0 0" />
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<parent link="${name}_link" />
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<child link="${name}_color_frame" />
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</joint>
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<link name="${name}_color_frame"/>
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<joint name="${name}_color_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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<parent link="${name}_color_frame" />
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<child link="${name}_color_optical_frame" />
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</joint>
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<link name="${name}_color_optical_frame"/>
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</xacro:if>
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<xacro:if value="$(arg add_plug)">
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<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
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<origin xyz="${-0.00153-d405_mesh_x_offset} ${d405_cam_width/2-d405_cam_depth_py} 0" rpy="${M_PI} 0 0"/>
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</xacro:usb_plug>
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</xacro:if>
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</xacro:macro>
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</robot>

‎clearpath_sensors_description/urdf/intel_realsense.urdf.xacro‎

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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="intel_realsense" params="name parent_link model *origin
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update_rate:=30.0 image_height:=480 image_width:=640">
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<xacro:if value="${model == 'd405'}">
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<xacro:include filename="$(find clearpath_sensors_description)/urdf/intel/d405.urdf.xacro" />
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<xacro:sensor_d405 name="${name}" parent="${parent_link}">
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<xacro:insert_block name="origin" />
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</xacro:sensor_d405>
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</xacro:if>
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<xacro:if value="${model == 'd415'}">
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<xacro:include filename="$(find clearpath_sensors_description)/urdf/intel/d415.urdf.xacro" />
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<xacro:sensor_d415 name="${name}" parent="${parent_link}">

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