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zed_macro.urdf.xacro
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zed_macro.urdf.xacro
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<?xml version="1.0"?>
<!--
// Copyright 2022 Stereolabs
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
-->
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find zed_wrapper)/urdf/include/materials.urdf.xacro" />
<xacro:property name="M_PI" value="3.1415926535897931" />
<!--
Parameters:
- name: the camera's name. should match the parameter sent to the launch file for this camera
- model: the type of camera, one of zed, zedm, zed2, zed2i, zedx, zedxm, virtual
- enable_gnss: if true enable the URDF link
-->
<xacro:macro name="zed_camera" params="name=zed model=zed enable_gnss=false custom_baseline=0 *gnss_origin">
<xacro:if value="${model == 'zed'}">
<xacro:property name="baseline" value="0.12" />
<xacro:property name="height" value="0.03" />
<xacro:property name="bottom_slope" value="0.05" />
<xacro:property name="screw_offset_x" value="0.0" />
<xacro:property name="screw_offset_z" value="0.0" />
<xacro:property name="optical_offset_x" value="-0.01" />
</xacro:if>
<xacro:if value="${model == 'zedm'}">
<xacro:property name="baseline" value="0.06" />
<xacro:property name="height" value="0.0265" />
<xacro:property name="bottom_slope" value="0.0" />
<xacro:property name="screw_offset_x" value="0.0" />
<xacro:property name="screw_offset_z" value="0.0" />
<xacro:property name="optical_offset_x" value="0.0" />
</xacro:if>
<xacro:if value="${model == 'zed2'}">
<xacro:property name="baseline" value="0.12" />
<xacro:property name="height" value="0.03" />
<xacro:property name="bottom_slope" value="0.05" />
<xacro:property name="screw_offset_x" value="0.0" />
<xacro:property name="screw_offset_z" value="0.0" />
<xacro:property name="optical_offset_x" value="-0.01" />
</xacro:if>
<xacro:if value="${model == 'zed2i'}">
<xacro:property name="baseline" value="0.12" />
<xacro:property name="height" value="0.03" />
<xacro:property name="bottom_slope" value="0.0" />
<xacro:property name="screw_offset_x" value="-0.01" />
<xacro:property name="screw_offset_z" value="0.0" />
<xacro:property name="optical_offset_x" value="-0.01" />
</xacro:if>
<xacro:if value="${model == 'zedx'}">
<xacro:property name="baseline" value="0.12" />
<xacro:property name="height" value="0.032" />
<xacro:property name="bottom_slope" value="0.0" />
<xacro:property name="screw_offset_x" value="0.0" />
<xacro:property name="screw_offset_z" value="-0.016" />
<xacro:property name="optical_offset_x" value="-0.01" />
</xacro:if>
<xacro:if value="${model == 'zedxm'}">
<xacro:property name="baseline" value="0.05" />
<xacro:property name="height" value="0.032" />
<xacro:property name="bottom_slope" value="0.0" />
<xacro:property name="screw_offset_x" value="0.0" />
<xacro:property name="screw_offset_z" value="-0.016" />
<xacro:property name="optical_offset_x" value="-0.01" />
</xacro:if>
<xacro:if value="${model == 'virtual'}">
<xacro:property name="baseline" value="${custom_baseline}" />
<xacro:property name="height" value="0.031" />
<xacro:property name="bottom_slope" value="0.0" />
<xacro:property name="screw_offset_x" value="0.00" />
<xacro:property name="screw_offset_z" value="-0.0155" />
<xacro:property name="optical_offset_x" value="0.0" />
</xacro:if>
<!-- Camera mounting point (the threaded screw hole in the bottom) -->
<link name="${name}_camera_link" />
<!-- Camera Center -->
<link name="${name}_camera_center">
<xacro:unless value="${model == 'virtual'}">
<visual>
<origin xyz="${screw_offset_x} 0 ${screw_offset_z}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://zed_interfaces/meshes/${model}.stl" />
</geometry>
<material name="${model}_mat" />
</visual>
<collision>
<origin xyz="${screw_offset_x} 0 ${screw_offset_z}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://zed_interfaces/meshes/${model}.stl" />
</geometry>
</collision>
</xacro:unless>
</link>
<joint name="${name}_camera_center_joint" type="fixed">
<parent link="${name}_camera_link"/>
<child link="${name}_camera_center"/>
<origin xyz="0 0 ${height/2}" rpy="0 ${bottom_slope} 0" />
</joint>
<!-- Left Camera -->
<link name="${name}_left_camera_frame">
<xacro:if value="${model == 'virtual'}">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://zed_interfaces/meshes/${model}.stl" />
</geometry>
<material name="${model}_mat" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://zed_interfaces/meshes/${model}.stl" />
</geometry>
</collision>
</xacro:if>
</link>
<joint name="${name}_left_camera_joint" type="fixed">
<parent link="${name}_camera_center"/>
<child link="${name}_left_camera_frame"/>
<origin xyz="${optical_offset_x} ${baseline/2} 0" rpy="0 0 0" />
</joint>
<link name="${name}_left_camera_optical_frame"/>
<joint name="${name}_left_camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
<parent link="${name}_left_camera_frame"/>
<child link="${name}_left_camera_optical_frame"/>
</joint>
<!-- Right Camera -->
<link name="${name}_right_camera_frame">
<xacro:if value="${model == 'virtual'}">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://zed_interfaces/meshes/${model}.stl" />
</geometry>
<material name="${model}_mat" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://zed_interfaces/meshes/${model}.stl" />
</geometry>
</collision>
</xacro:if>
</link>
<joint name="${name}_right_camera_joint" type="fixed">
<parent link="${name}_camera_center"/>
<child link="${name}_right_camera_frame"/>
<origin xyz="${optical_offset_x} -${baseline/2} 0" rpy="0 0 0" />
</joint>
<link name="${name}_right_camera_optical_frame"/>
<joint name="${name}_right_camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
<parent link="${name}_right_camera_frame"/>
<child link="${name}_right_camera_optical_frame"/>
</joint>
<!-- ZED2 Sensors -->
<xacro:if value="${model == 'zed2'}">
<link name="${name}_mag_link" />
<joint name="${name}_mag_joint" type="fixed">
<parent link="${name}_camera_center"/>
<child link="${name}_mag_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="${name}_baro_link" />
<joint name="${name}_baro_joint" type="fixed">
<parent link="${name}_camera_center"/>
<child link="${name}_baro_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="${name}_temp_left_link" />
<joint name="${name}_temp_left_joint" type="fixed">
<parent link="${name}_left_camera_frame"/>
<child link="${name}_temp_left_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="${name}_temp_right_link" />
<joint name="${name}_temp_right_joint" type="fixed">
<parent link="${name}_right_camera_frame"/>
<child link="${name}_temp_right_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
</xacro:if>
<xacro:if value="${enable_gnss}">
<link name="${name}_gnss_link" />
<joint name="${name}_gnss_joint" type="fixed">
<parent link="${name}_camera_link"/>
<child link="${name}_gnss_link"/>
<xacro:insert_block name="gnss_origin" />
</joint>
</xacro:if>
</xacro:macro>
</robot>