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Published 20 hours ago • verified publisher icon luxonis

URDF does not provide any of the camera attachments

Open AlessioMorale opened this issue 3 years ago • 3 comments

The camera URDF is missing any attachment link, making it complex to attach it to a robot model.

For example, OAK-D-LITE is missing frames for:

  • bottom 1/4 UNC Screw attachment
  • rear M4 attachments.

AlessioMorale avatar Apr 03 '22 11:04 AlessioMorale

Do you mean it is missing from the model files or the URDF link doesn't exist ?

saching13 avatar Apr 03 '22 16:04 saching13

There are no links defined for those attachments in the URDF. Just to provide some background: Designing the robot mechanics, I know exactly the placement of every camera attachment, thus I can use this information to precisely integrate the camera URDF with the rest of the robot description. Look at the Realsense URDF for an example: https://github.com/IntelRealSense/realsense-ros/blob/e4938bbbfd7b285fe71f81fe69cebcc76dbf72fc/realsense2_description/urdf/_d435.urdf.xacro#L51

AlessioMorale avatar Apr 03 '22 17:04 AlessioMorale

Makes sense. This would require lot of refactor. Will think more on it and best way to enable it without affecting current users. Thanks alot for the feedback.

saching13 avatar Apr 04 '22 16:04 saching13