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jamendezibjamendezib
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Add axis_p5676 camera
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‎meshes/axis_p5676.stl

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‎urdf/all_sensors.urdf.xacro

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<!-- Axis m5525 -->
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<xacro:include filename="$(find robotnik_sensors)/urdf/axis_m5525.urdf.xacro" />
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<!-- Axis p5676 -->
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<xacro:include filename="$(find robotnik_sensors)/urdf/axis_p5676.urdf.xacro" />
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<!-- Axis q8641 -->
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<xacro:include filename="$(find robotnik_sensors)/urdf/axis_q8641.urdf.xacro" />
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‎urdf/axis_p5676.urdf.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="sensor_axis_p5676">
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<xacro:property name="ptz_joint_effort_limit" value="1.0"/>
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<xacro:property name="ptz_joint_velocity_limit" value="1.0"/>
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<xacro:property name="ptz_joint_friction" value="0.1"/>
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<xacro:property name="ptz_joint_damping" value="0.1"/>
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<xacro:property name="ptz_mechanical_reduction" value="1.0"/>
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<xacro:property name="PI" value="3.14159265359"/>
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<xacro:macro name="sensor_axis_p5676" params="prefix parent *origin far:=^|8.0 near:=^|0.05 prefix_topic:=^ptz_camera include_inertial:=^|true">
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<joint name="${prefix}_joint" type="fixed">
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<axis xyz="0 0 1"/>
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<xacro:insert_block name="origin"/>
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<parent link="${parent}"/>
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<child link="${prefix}_base_link"/>
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</joint>
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<link name="${prefix}_base_link">
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<xacro:if value="${include_inertial}">
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<inertial>
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<origin xyz="0.066 0 0" rpy="0 0 0"/>
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<mass value="2.5"/>
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<xacro:solid_cuboid_inertia m="2.5" w="0.205" h="0.242" d="0.205" />
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</inertial>
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</xacro:if>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<!-- to center the axis model -->
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<material name="axis_color">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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<geometry>
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<mesh filename="package://robotnik_sensors/meshes/axis_p5676.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://robotnik_sensors/meshes/axis_p5676.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<joint name="${prefix}_pan_joint" type="revolute">
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<axis xyz="0 0 1"/>
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<origin xyz="0 0.0 0.065" rpy="0 0 0"/>
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<!-- check the displacement -->
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<parent link="${prefix}_base_link"/>
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<child link="${prefix}_pan_link"/>
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<limit effort="${ptz_joint_effort_limit}" velocity="${ptz_joint_velocity_limit}" lower="-3.1416" upper="3.1416"/>
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<joint_properties damping="${ptz_joint_damping}" friction="{ptz_joint_friction}"/>
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</joint>
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<link name="${prefix}_pan_link">
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<xacro:if value="${include_inertial}">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<xacro:solid_cuboid_inertia m="0.1" w="0.1" h="0.11" d="0.11" />
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</inertial>
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</xacro:if>
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</link>
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<transmission name="${prefix}_pan_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}_pan_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}pan_motor">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>${ptz_mechanical_reduction}</mechanicalReduction>
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</actuator>
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</transmission>
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<joint name="${prefix}_tilt_joint" type="revolute">
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<axis xyz="0 0 1"/>
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<origin xyz="0.0 0.0 0.0" rpy="${PI/2} 0 0"/>
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<parent link="${prefix}_pan_link"/>
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<child link="${prefix}_tilt_link"/>
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<limit effort="${ptz_joint_effort_limit}" velocity="${ptz_joint_velocity_limit}" lower="-1.5708" upper="1.5708"/>
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<joint_properties damping="${ptz_joint_damping}" friction="{ptz_joint_friction}"/>
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</joint>
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<link name="${prefix}_tilt_link">
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<xacro:if value="${include_inertial}">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<xacro:solid_cuboid_inertia m="0.1" w="0.11" h="0.11" d="0.1" />
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</inertial>
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</xacro:if>
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</link>
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<transmission name="${prefix}_tilt_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}_tilt_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}tilt_motor">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>${ptz_mechanical_reduction}</mechanicalReduction>
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</actuator>
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</transmission>
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<joint name="${prefix}_zoom_joint" type="prismatic">
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<axis xyz="1 0 0"/>
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<origin xyz="0.0 0.0 0.0" rpy="${-PI/2} 0 0"/>
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<parent link="${prefix}_tilt_link"/>
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<child link="${prefix}_zoom_link"/>
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<limit effort="${ptz_joint_effort_limit}" velocity="${ptz_joint_velocity_limit}" lower="-1.5708" upper="1.5708"/>
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<joint_properties damping="${ptz_joint_damping}" friction="{ptz_joint_friction}"/>
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</joint>
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<link name="${prefix}_zoom_link">
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<xacro:if value="${include_inertial}">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<xacro:solid_cuboid_inertia m="0.1" w="0.11" h="0.11" d="0.1" />
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</inertial>
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</xacro:if>
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</link>
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<transmission name="${prefix}_zoom_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}_zoom_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}zoom_motor">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>${ptz_mechanical_reduction}</mechanicalReduction>
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</actuator>
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</transmission>
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<joint name="${prefix}_frame_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="${prefix}_tilt_link"/>
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<child link="${prefix}_frame_link"/>
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</joint>
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<link name="${prefix}_frame_link">
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<xacro:if value="${include_inertial}">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<xacro:solid_cuboid_inertia m="0.1" w="0.11" h="0.11" d="0.1" />
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</inertial>
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</xacro:if>
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</link>
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<!-- Optical frame -->
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<joint name="${prefix}_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/>
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<parent link="${prefix}_frame_link"/>
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<child link="${prefix}_optical_frame_link"/>
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</joint>
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<link name="${prefix}_optical_frame_link">
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<xacro:if value="${include_inertial}">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<xacro:solid_cuboid_inertia m="0.1" w="0.11" h="0.11" d="0.1" />
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</inertial>
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</xacro:if>
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</link>
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<gazebo reference="${prefix}_base_link">
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<!-- Axis sensor for simulation -->
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<xacro:sensor_axis_p5676_gazebo/>
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</xacro:macro>
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<xacro:macro name="sensor_axis_p5676_gazebo">
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<gazebo reference="${prefix}_frame_link"> <!-- the image will be generated from this (${name}_frame) point of view, with the front being the X axis -->
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<sensor type="camera" name="${prefix}_sensor">
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<update_rate>30.0</update_rate>
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<camera name="${prefix_topic}">
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<horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
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<image>
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<format>R8G8B8</format>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>${near}</near>
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<far>${far}</far>
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</clip>
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</camera>
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<plugin name="${prefix}_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>${prefix_topic}</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>${prefix}_optical_frame_link</frameName>
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<!-- this is just which name the Image msg will have, it does not affect the simulation.
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However must be set to the optical_frame, -->
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<hackBaseline>0.07</hackBaseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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<ignoreTfPrefix>1</ignoreTfPrefix>
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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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