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afont3afont3
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Add orbbec_astra_pro
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‎urdf/all_sensors.urdf.xacro

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<!-- Orbbec Astra -->
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<xacro:include filename="$(find robotnik_sensors)/urdf/orbbec_astra.urdf.xacro" />
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<!-- Orbbec Astra Pro-->
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<xacro:include filename="$(find robotnik_sensors)/urdf/orbbec_astra_pro.urdf.xacro" />
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<!-- Zed -->
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<xacro:include filename="$(find robotnik_sensors)/urdf/zed.urdf.xacro" />

‎urdf/orbbec_astra_pro.urdf.xacro

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<?xml version="1.0"?>
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<robot name="sensor_orbbec_astra_pro" xmlns:xacro="http://wiki.ros.org/Sensors/OrbbecAstra">
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<xacro:macro name="sensor_orbbec_astra_pro" params="prefix parent prefix_topic:='front_rgbd_camera' *origin depth_offset_x:=0 depth_offset_y:=0 depth_offset_z:=0">
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<joint name="${prefix}_joint" type="fixed">
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<xacro:insert_block name="origin" />
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<parent link="${parent}"/>
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<child link="${prefix}_link"/>
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</joint>
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<link name="${prefix}_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://robotnik_sensors/meshes/orbbec_astra.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://robotnik_sensors/meshes/orbbec_astra.dae"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.001" />
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<origin xyz="0.0 0.0 0.0" />
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<xacro:solid_cuboid_inertia m="0.001" w="0.04" h="0.165" d="0.03" />
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</inertial>
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</link>
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<joint name="${prefix}_color_joint" type="fixed">
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<origin xyz="0.0 0.0125 0.0150" rpy="0.0 0.0 0.0"/>
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<parent link="${prefix}_link"/>
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<child link="${prefix}_color_frame" />
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</joint>
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<link name="${prefix}_color_frame">
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<inertial>
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<mass value="0.297" />
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<origin xyz="-0.02 -0.0125 0.0" />
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<xacro:solid_cuboid_inertia m="0.297" w="0.04" h="0.165" d="0.03" />
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</inertial>
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</link>
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<joint name="${prefix}_color_optical_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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<parent link="${prefix}_color_frame" />
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<child link="${prefix}_color_optical_frame" />
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</joint>
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<link name="${prefix}_color_optical_frame">
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<inertial>
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<mass value="0.001" />
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<origin xyz="0 0 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
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<xacro:solid_cuboid_inertia m="0.001" w="0.04" h="0.165" d="0.03" />
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</inertial>
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</link>
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<joint name="${prefix}_depth_joint" type="fixed">
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<origin xyz="0.0 0.0375 0.0150" rpy="0 0 0" />
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<parent link="${prefix}_link" />
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<child link="${prefix}_depth_frame" />
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</joint>
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<link name="${prefix}_depth_frame">
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<inertial>
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<mass value="0.001" />
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<origin xyz="0 0 0" />
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<xacro:solid_cuboid_inertia m="0.001" w="0.04" h="0.165" d="0.03" />
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</inertial>
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</link>
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<joint name="${prefix}_depth_optical_joint" type="fixed">
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<origin xyz="${depth_offset_x} ${depth_offset_y} ${depth_offset_z}" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
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<parent link="${prefix}_depth_frame" />
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<child link="${prefix}_depth_optical_frame" />
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</joint>
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<link name="${prefix}_depth_optical_frame">
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<inertial>
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<mass value="0.001" />
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<origin xyz="0 0 0" />
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<xacro:solid_cuboid_inertia m="0.001" w="0.04" h="0.165" d="0.03" />
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</inertial>
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</link>
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<!-- RGBD sensor for simulation, same as Kinect -->
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<xacro:sensor_orbbec_astra_pro_gazebo/>
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</xacro:macro>
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<xacro:macro name="sensor_orbbec_astra_pro_gazebo">
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<gazebo reference="${prefix}_link">
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<sensor type="depth" name="${prefix}_depth_sensor">
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<always_on>true</always_on>
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<update_rate>20.0</update_rate>
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<camera>
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<horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
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<image>
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<format>R8G8B8</format>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.05</near>
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<far>3.5</far>
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</clip>
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</camera>
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<plugin name="${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
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<cameraName>${prefix_topic}</cameraName>
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<alwaysOn>true</alwaysOn>
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<updateRate>10</updateRate>
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<imageTopicName>color/image_raw</imageTopicName>
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<depthImageTopicName>depth/image_raw</depthImageTopicName>
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<pointCloudTopicName>depth/points</pointCloudTopicName>
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<cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
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<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
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<frameName>/${prefix}_depth_optical_frame</frameName>
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<baseline>0.1</baseline>
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<distortion_k1>0.0</distortion_k1>
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<distortion_k2>0.0</distortion_k2>
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<distortion_k3>0.0</distortion_k3>
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<distortion_t1>0.0</distortion_t1>
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<distortion_t2>0.0</distortion_t2>
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<pointCloudCutoff>0.4</pointCloudCutoff>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>

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