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Thanks to nlamprian, I was able to fix these errors.

Just in case someone else is searching for how to attach just the camera (actual sensor is addressed in the link).

Here is the xacro (say test.xacro )that works for attaching the Intel D435 to the tool of UR5:

<robot name="robot_description" 
  xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find ur5_description)/urdf/ur5_joint_limited_robot.urdf.xacro" />

  <joint name="joint_name" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="tool0"/>
    <child link="camera_bottom_screw_frame"/>
    <axis xyz="0.0 0.0 0.0"/>
    <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0"/>
  </joint>


  <!-- CAMERA -->

  <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
  <xacro:arg name="use_nominal_extrinsics" default="True" />

  <sensor_d435 parent="tool0">
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </sensor_d435>

</robot>

Also what helped me was these steps:

xacro test.xacro > temp.urdf
check_urdf temp.urdf

That showed that I had inadvertently picked the wrong name for a link earlier.

Hope my mistakes help someone :)

Iyantiram

Thanks to nlamprian, I was able to fix these errors.

Just in case someone else is searching for how to attach just the camera (actual sensor is addressed in the link).

Here is the xacro (say test.xacro )that works for attaching the Intel D435 to the tool of UR5:

<robot name="robot_description" 
  xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find ur5_description)/urdf/ur5_joint_limited_robot.urdf.xacro" />

  <joint name="joint_name" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="tool0"/>
    <child link="camera_bottom_screw_frame"/>
    <axis xyz="0.0 0.0 0.0"/>
    <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0"/>
  </joint>


  <!-- CAMERA -->

  <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
  <xacro:arg name="use_nominal_extrinsics" default="True" />

  <sensor_d435 parent="tool0">
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </sensor_d435>

</robot>

Also what helped me was these steps:

xacro test.xacro > temp.urdf
check_urdf temp.urdf

That showed that I had inadvertently picked the wrong name for a link earlier.

Hope my mistakes help someone :)

Iyantiram