Azure_Kinect_ROS_Driver
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Enhancing URDF Model
I spent some time the last days creating an enhanced URDF description of the Azure based on some actual meshes, as well as adding plugin settings for Gazebo simulation.


Details:
- Created a new URDF descriptions and meshes derived from the CAD model available at Azure-Kinect-Sensor-SDK (MIT license)
- The meshes were manually optimized in Blender. I removed the hole pattern in the sensor housing to reduce the number of vertices, but kept a few ones to mark the positions of the microphones.
- Included a simplified mesh version for collision model
- The model base is centered on the backmost tripod screw and includes additional coordinate frames for the RGB camera, IR camera and gyro according to the hardware specifications.
- The new URDF model located in a new file
urdf/azure_kinect_new.urdf.xacro, while leaving the old one untouched for compatibility - Gazebo sim settings are made optional
- Usage example:
<xacro:include filename="$(find azure_kinect_ros_driver)/urdf/azure_kinect_new.urdf.xacro" /> <xacro:azure_kinect prefix="" parent="tripod_mount" gazebo="true"> <origin xyz="0 0 0" rpy="0 0 0" /> </xacro:azure_kinect>
The changes can be found in my fork of the Azure ROS driver. So far I tested the changes only on Ubuntu and ROS1, but I guess they should also work for ROS2, since far as I know there were no changes to the URDF format.
So long story short: Please let me know whether there is a general interest in creating a PR.
This looks beautiful! Thank you for sharing. I would definitely have an interest in reviewing a PR.