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How do I add the Kinect model/sensor to the baxter URDF file?

Right now, I can get both the baxter and the kinect sensor the load into the same world with no issues. But I trying to attach the kinect sensor the top the baxter robot. My goal is that when I load up the baxter model, it will load with the kinect sensor together. I'm currently on 14.04.

Asked by j2940768 on 2018-11-16 15:48:49 UTC

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Answers

Take a look in this Repo. Here is an example how one can include sensors in urdf.

The sensors are defined in /urdf/sensors/... Each sensor has an ...gazebo.xacro (holds gazebo relevant sdf description) and an ...urdf.xacro (which is the actual urdf description). In urdf.xacro the camera is defined as xacro:macro, therefor one can use it in other urdf like this:

<!-- Kamera -->
<xacro:include filename="$(find luh_youbot_description)/urdf/sensors/asus_xtion_camera.urdf.xacro" />
<xacro:asus_xtion_camera name="camera" parent="arm_link_5" tilt="0.0">
  <origin xyz="-0.02 0 -0.04" rpy="0 -1.60 0" />
  <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
</xacro:asus_xtion_camera>

All params and tags in this example are related to the specific definitions in the Repo, keep in mind that they are different in your case.

Asked by wentz on 2018-11-19 03:47:16 UTC

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