Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Added urdf & mesh files for D405 model #2953

Merged
merged 1 commit into from
Dec 26, 2023
Merged

Added urdf & mesh files for D405 model #2953

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
92 changes: 92 additions & 0 deletions realsense2_camera/examples/pointcloud/rs_d405_pointcloud_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@
# Copyright 2023 Intel Corporation. All Rights Reserved.
#
# 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.

# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and visualize pointcloud along with the camera model D405.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_d405_pointcloud_launch.py

"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import os
import sys
import pathlib
import xacro
import tempfile
from ament_index_python.packages import get_package_share_directory
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch

local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'device_type', 'default': "d405", 'description': 'choose device by type'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
]

def to_urdf(xacro_path, parameters=None):
"""Convert the given xacro file to URDF file.
* xacro_path -- the path to the xacro file
* parameters -- to be used when xacro file is parsed.
"""
urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))

# open and process file
doc = xacro.process_file(xacro_path, mappings=parameters)
# open the output file
out = xacro.open_output(urdf_path)
out.write(doc.toprettyxml(indent=' '))

return urdf_path

def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])


def generate_launch_description():
params = rs_launch.configurable_parameters
xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', 'test_d405_camera.urdf.xacro')
urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
),
launch_ros.actions.Node(
package='rviz2',
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d', [ThisLaunchFileDir(), '/rviz/urdf_pointcloud.rviz']],
output='screen',
parameters=[{'use_sim_time': False}]
),
launch_ros.actions.Node(
name='model_node',
package='robot_state_publisher',
executable='robot_state_publisher',
namespace='',
output='screen',
arguments=[urdf]
)
])
Binary file added realsense2_description/meshes/d405.stl
View file
Open in desktop
Binary file not shown.
165 changes: 165 additions & 0 deletions realsense2_description/urdf/_d405.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,165 @@
<?xml version="1.0"?>

<!--
# Copyright 2023 Intel Corporation. All Rights Reserved.
#
# 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.
-->

<!--
This is the URDF model for the Intel RealSense 405 camera, in its
aluminum peripherial evaluation case.
-->

<robot name="sensor_d405" 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_d405" params="parent *origin name:=camera use_nominal_extrinsics:=false">
<xacro:arg name="add_plug" default="false" />
<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="d405_cam_depth_to_infra1_offset" value="0.0"/>
<xacro:property name="d405_cam_depth_to_infra2_offset" value="-0.018"/>
<xacro:property name="d405_cam_depth_to_color_offset" value="0.0"/>

<!-- The following values model the aluminum peripherial case for the
d405 camera, with the camera joint represented by the actual
peripherial camera tripod mount -->
<xacro:property name="d405_cam_width" value="0.042"/>
Copy link
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Just curios , this is generated automatically some how or you set this values according to the STL file manually?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

These values are set manually based on the dimensions mentioned in the datasheet.

<xacro:property name="d405_cam_height" value="0.042"/>
<xacro:property name="d405_cam_depth" value="0.023"/>
<xacro:property name="d405_cam_mount_from_center_offset" value="0.01465"/>
<!-- glass cover is 0.1 mm inwards from front aluminium plate -->
<xacro:property name="d405_glass_to_front" value="0.1e-3"/>
<!-- see datasheet Revision 017, Table. 4-16 page 97 -->
<xacro:property name="d405_zero_depth_to_glass" value="3.7e-3"/>
<!-- convenience precomputation to avoid clutter-->
<xacro:property name="d405_mesh_x_offset" value="${d405_cam_mount_from_center_offset-d405_glass_to_front-d405_zero_depth_to_glass}"/>

<!-- The following offset is relative to the physical d405 camera peripherial
camera tripod mount -->
<xacro:property name="d405_cam_depth_px" value="${d405_cam_mount_from_center_offset}"/>
<xacro:property name="d405_cam_depth_py" value="0.009"/>
<xacro:property name="d405_cam_depth_pz" value="${d405_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="${name}_link_joint" type="fixed">
<origin xyz="${d405_mesh_x_offset} ${d405_cam_depth_py} ${d405_cam_depth_pz}" rpy="0 0 0"/>
<parent link="${name}_bottom_screw_frame"/>
<child link="${name}_link" />
</joint>

<link name="${name}_link">
<visual>
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
<origin xyz="${d405_zero_depth_to_glass + d405_glass_to_front} ${-d405_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
<geometry>
<mesh filename="file://$(find realsense2_description)/meshes/d405.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="aluminum"/>
</visual>
<collision>
<origin xyz="${d405_zero_depth_to_glass-d405_cam_depth/2} ${-d405_cam_depth_py} 0" rpy="0 0 0"/>
<geometry>
<box size="${d405_cam_depth} ${d405_cam_width} ${d405_cam_height}"/>
</geometry>
</collision>
<inertial>
<!-- The following are not reliable values, and should not be used for modeling -->
Copy link
Contributor Author

@Arun-Prasad-V Arun-Prasad-V Dec 22, 2023 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

The section hasn't been updated. It has unreliable values.
In fact, all the previous URDF's of D415, D455, D435 models also have same unreliable values.

<mass value="0.072" />
<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 ${d405_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
<parent link="${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 ${d405_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
<parent link="${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 ${d405_cam_depth_to_color_offset} 0" rpy="0 0 0" />
<parent link="${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="$(arg add_plug)">
<xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
<origin xyz="${-0.00153-d405_mesh_x_offset} ${d405_cam_width/2-d405_cam_depth_py} 0" rpy="${M_PI} 0 0"/>
</xacro:usb_plug>
</xacro:if>
</xacro:macro>
</robot>
10 changes: 10 additions & 0 deletions realsense2_description/urdf/test_d405_camera.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
<?xml version="1.0"?>
<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="use_nominal_extrinsics" default="false"/>
<xacro:include filename="$(find realsense2_description)/urdf/_d405.urdf.xacro" />

<link name="base_link" />
<xacro:sensor_d405 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:sensor_d405>
</robot>
Loading