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Enhancing URDF Model #237

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exo-core opened this issue Feb 16, 2022 · 1 comment
Open

Enhancing URDF Model #237

exo-core opened this issue Feb 16, 2022 · 1 comment
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enhancement New feature or request triage needed The Issue still needs to be reviewed by the Azure Kinect ROS Driver Team

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@exo-core
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exo-core commented Feb 16, 2022

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.

Screenshot from 2022-02-14 17-01-49

Screenshot from 2022-02-16 10-36-28

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.

@exo-core exo-core added enhancement New feature or request triage needed The Issue still needs to be reviewed by the Azure Kinect ROS Driver Team labels Feb 16, 2022
@ooeygui
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ooeygui commented Feb 16, 2022

This looks beautiful! Thank you for sharing. I would definitely have an interest in reviewing a PR.

@exo-core exo-core mentioned this issue Feb 17, 2022
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@exo-core exo-core mentioned this issue Mar 2, 2022
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Labels
enhancement New feature or request triage needed The Issue still needs to be reviewed by the Azure Kinect ROS Driver Team
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