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rgbd_macro.gazebo.urdf.xacro
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rgbd_macro.gazebo.urdf.xacro
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<?xml version="1.0"?>
<!--
License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved
This is the URDF model for the Intel RealSense 415 camera, in its
aluminum peripherial evaluation case.
-->
<robot name="sensor_d415" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Includes -->
<xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
<xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
<xacro:macro name="sensor_d415" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false use_mesh:=true sensor_name:=rgbd_camera">
<xacro:property name="M_PI" value="3.1415926535897931" />
<!-- The following values are approximate, and the camera node
publishing TF values with actual calibrated camera extrinsic values -->
<xacro:property name="d415_cam_depth_to_infra1_offset" value="0.0"/>
<xacro:property name="d415_cam_depth_to_infra2_offset" value="-0.055"/>
<xacro:property name="d415_cam_depth_to_color_offset" value="0.015"/>
<!-- The following values model the aluminum peripherial case for the
d415 camera, with the camera joint represented by the actual
peripherial camera tripod mount -->
<xacro:property name="d415_cam_width" value="0.099"/>
<xacro:property name="d415_cam_height" value="0.023"/>
<xacro:property name="d415_cam_depth" value="0.02005"/>
<xacro:property name="d415_cam_mount_from_center_offset" value="0.00987"/>
<!-- The following offset is relative the the physical d415 camera peripherial
camera tripod mount -->
<xacro:property name="d415_cam_depth_px" value="${d415_cam_mount_from_center_offset}"/>
<xacro:property name="d415_cam_depth_py" value="0.020"/>
<xacro:property name="d415_cam_depth_pz" value="${d415_cam_height/2}"/>
<!-- camera body, with origin at bottom screw mount -->
<joint name="${name}_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_bottom_screw_frame" />
</joint>
<link name="${name}_bottom_screw_frame"/>
<joint name="${name}_link_joint" type="fixed">
<origin xyz="0 ${d415_cam_depth_py} ${d415_cam_depth_pz}" rpy="0 0 0"/>
<parent link="${name}_bottom_screw_frame"/>
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<visual>
<xacro:if value="${use_mesh}">
<origin xyz="${d415_cam_mount_from_center_offset} ${-d415_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
<geometry>
<mesh filename="file://$(find realsense2_description)/meshes/d415.stl" />
</geometry>
<material name="aluminum"/>
</xacro:if>
<xacro:unless value="${use_mesh}">
<origin xyz="0 ${-d415_cam_depth_py} 0" rpy="0 0 0"/>
<geometry>
<box size="${d415_cam_depth} ${d415_cam_width} ${d415_cam_height}"/>
</geometry>
</xacro:unless>
</visual>
<collision>
<origin xyz="0 ${-d415_cam_depth_py} 0" rpy="0 0 0"/>
<geometry>
<box size="${d415_cam_depth} ${d415_cam_width} ${d415_cam_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.072" />
<!-- The following are not reliable values, and should not be used for modeling -->
<origin xyz="0 0 0" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
</inertial>
</link>
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
<xacro:if value="${use_nominal_extrinsics}">
<!-- camera depth joints and links -->
<joint name="${name}_depth_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${name}_link"/>
<child link="${name}_depth_frame" />
</joint>
<link name="${name}_depth_frame"/>
<joint name="${name}_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="${name}_depth_frame" />
<child link="${name}_depth_optical_frame" />
</joint>
<link name="${name}_depth_optical_frame"/>
<!-- camera left IR joints and links -->
<joint name="${name}_infra1_joint" type="fixed">
<origin xyz="0 ${d415_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
<parent link="${name}_link" />
<child link="${name}_infra1_frame" />
</joint>
<link name="${name}_infra1_frame"/>
<joint name="${name}_infra1_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="${name}_infra1_frame" />
<child link="${name}_infra1_optical_frame" />
</joint>
<link name="${name}_infra1_optical_frame"/>
<!-- camera right IR joints and links -->
<joint name="${name}_infra2_joint" type="fixed">
<origin xyz="0 ${d415_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
<parent link="${name}_link" />
<child link="${name}_infra2_frame" />
</joint>
<link name="${name}_infra2_frame"/>
<joint name="${name}_infra2_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="${name}_infra2_frame" />
<child link="${name}_infra2_optical_frame" />
</joint>
<link name="${name}_infra2_optical_frame"/>
<!-- camera color joints and links -->
<joint name="${name}_color_joint" type="fixed">
<origin xyz="0 ${d415_cam_depth_to_color_offset} 0" rpy="0 0 0" />
<parent link="${name}_link" />
<child link="${name}_color_frame" />
</joint>
<link name="${name}_color_frame"/>
<joint name="${name}_color_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="${name}_color_frame" />
<child link="${name}_color_optical_frame" />
</joint>
<link name="${name}_color_optical_frame"/>
</xacro:if>
<xacro:if value="${add_plug}">
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
<origin xyz="${d415_cam_mount_from_center_offset - 0.01587} ${-d415_cam_depth_py - 0.0358} 0" rpy="0 0 0"/>
</xacro:usb_plug>
</xacro:if>
<gazebo reference="${name}_color_frame">
<sensor name="${sensor_name}" type="rgbd_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
<distortion>
<k1>0.0</k1>
<k2>0.0</k2>
<k3>0.0</k3>
<p1>0.0</p1>
<p2>0.0</p2>
<center>0.5 0.5</center>
</distortion>
<lens>
<intrinsics>
<fx>554.25469</fx>
<fy>554.25469</fy>
<cx>320.5</cx>
<cy>240.5</cy>
<s>0</s>
</intrinsics>
</lens>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.00</stddev>
</noise>
<depth_camera>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</depth_camera>
<optical_frame_id>camera_color_optical_frame</optical_frame_id>
</camera>
<ignition_frame_id>camera_color_frame</ignition_frame_id>
<always_on>1</always_on>
<update_rate>6</update_rate>
<visualize>true</visualize>
<topic>rgbd_camera</topic>
<enable_metrics>true</enable_metrics>
</sensor>
</gazebo>
<gazebo>
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</gazebo>
</xacro:macro>
</robot>