Added preliminary URDF models for 410 and 430 camera peripherials

icarpis · May 8, 2017 · 8385004 · 8385004
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diff --git a/README.md b/README.md
@@ -1,13 +1,13 @@
-# ROS* support for Intel® RealSense™ R410 camera 
+# ROS* support for Intel® RealSense™ R410 and 430 cameras 
 
 Version 2.5.3
 
 ## Features
-This package illustrates how to develop OSRF&reg; ROS* applications using the Intel® RealSense™ R410 camera. 
+This package illustrates how to develop OSRF&reg; ROS* applications using the Intel® RealSense™ R410 and R430 camera. 
 
 **Important:** This is pre-release software, please read the known issues below
 
-**Note:** This pre-release software requires Intel RealSense R410 camera FW 5.6.4.0 or newer. A warning message will be displayed if the software finds camera FW that is older.
+**Note:** This pre-release software requires Intel RealSense R410 or R430 camera FW 5.6.4.0 or newer. A warning message will be displayed if the software finds camera FW that is older.
 
 ## Installation Instructions
 
@@ -43,14 +43,14 @@ source ~/.bashrc
 ```
 
 ### Step 2: Install Intel RealSense Support for ROS
-After Step 1 above is completed, the additional steps below will compile support for the Intel RealSense R410 camera, from source.  
+After Step 1 above is completed, the additional steps below will compile support for the Intel RealSense camera, from source.  
 
-**Note:** <path_to_realsense_ros_r410.tar.bz2> refers to the archive you received from your customer representative or through the VIP portal.  Please substitute <path_to_realsense_ros_r410.tar.bz2> with the actual archive filename you received.
+**Note:** <path_to_realsense_ros_r410_r430.tar.bz2> refers to the archive you received from your customer representative or through the VIP portal.  Please substitute <path_to_realsense_ros_r410_r430.tar.bz2> with the actual archive filename you received.
 ```bash
 mkdir -p catkin_ws/src
 cd catkin_ws/src/
 catkin_init_workspace 
-tar xv <path_to_realsense_ros_r410.tar.bz2>
+tar xv <path_to_realsense_ros_r410_r430.tar.bz2>
 cd ..
 catkin_make
 echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
@@ -90,9 +90,8 @@ This will open RViz and display the camera pointcloud and laser scan
 Although not built as part of this ROS package, the provided librealsense2 library contains additional standalone utilities for Linux and the Intel RealSense camera, including viewers with full control for all camera parameteters.  Please see the installation guide in librealsense2\README.md for details on compiling and using these utilities.
 
 ## Known Issues
-* This pre-release software package requires Intel RealSense R410 camera firmware 5.6.4.0 or newer.  Although it is not built by the ROS instructions above, the librealsense2 package can be built on the commandline using CMake with the parameter "-DBUILD_EXAMPLES-on", which will build a utility called 'cpp-enumerate'.  This utility will print the version number of your camera
-* This ROS node currently only supports the Intel RealSense R410 camera model
-* This ROS node does not currently provide URDF models for the camera.
+* This pre-release software package requires Intel RealSense camera firmware 5.6.4.0 or newer.  Although it is not built by the ROS instructions above, the librealsense2 package can be built on the commandline using CMake with the parameter "-DBUILD_EXAMPLES-on", which will build a utility called 'cpp-enumerate'.  This utility will print the version number of your camera
+* This ROS node currently only supports the Intel RealSense R410 and R430 camera models
 * This ROS node does not currently provide any dynamic reconfigure support for camera properties.
 * This ROS node does not currently provide support for using the RGBD package, but does support generation of a built-in point cloud topic stream.
 * This ROS node currently only provides the Depth stream from the camera sensor.  Future versions of the node will provide access to all camera streams.

diff --git a/realsense_ros_camera/launch/view_r410_model.launch b/realsense_ros_camera/launch/view_r410_model.launch
@@ -0,0 +1,8 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_ros_camera)/urdf/test_r410_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/urdf.rviz" required="true" />
+</launch>
diff --git a/realsense_ros_camera/launch/view_r430_model.launch b/realsense_ros_camera/launch/view_r430_model.launch
@@ -0,0 +1,8 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_ros_camera)/urdf/test_r430_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/urdf.rviz" required="true" />
+</launch>
diff --git a/realsense_ros_camera/rviz/urdf.rviz b/realsense_ros_camera/rviz/urdf.rviz
@@ -0,0 +1,192 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /RobotModel1/Link/Joint Tree1
+        - /RobotModel1/Link/Joint Tree1/base_link1
+        - /RobotModel1/Link/Joint Tree1/base_link1/Details1
+      Splitter Ratio: 0.636029422
+    Tree Height: 595
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Link/Joint Tree:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Tree of links and joints
+        base_link:
+          Details:
+            Alpha: 1
+            Show Axes: true
+            Show Trail: false
+          camera_joint:
+            Details:
+              Show Axes: false
+            Value: true
+            camera_link:
+              Details:
+                Alpha: 1
+                Show Axes: false
+                Show Trail: false
+              Value: true
+              camera_rgb_joint:
+                Details:
+                  Show Axes: false
+                camera_rgb_frame:
+                  Details:
+                    Alpha: 1
+                    Show Axes: false
+                    Show Trail: false
+                  camera_depth_joint:
+                    Details:
+                      Show Axes: false
+                    camera_depth_frame:
+                      Details:
+                        Alpha: 1
+                        Show Axes: false
+                        Show Trail: false
+                      camera_depth_optical_joint:
+                        Details:
+                          Show Axes: false
+                        camera_depth_optical_frame:
+                          Details:
+                            Alpha: 1
+                            Show Axes: false
+                            Show Trail: false
+                  camera_rgb_optical_joint:
+                    Details:
+                      Show Axes: false
+                    camera_rgb_optical_frame:
+                      Details:
+                        Alpha: 1
+                        Show Axes: false
+                        Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 0.409323573
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0
+      Target Frame: <Fixed Frame>
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 876
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000232000002e2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e2000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002e2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055f0000003efc0100000002fb0000000800540069006d006501000000000000055f0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000212000002e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1375
+  X: 65
+  Y: 24
diff --git a/realsense_ros_camera/urdf/_r410.urdf.xacro b/realsense_ros_camera/urdf/_r410.urdf.xacro
@@ -0,0 +1,114 @@
+<?xml version="1.0"?>
+
+<!--
+License: Apache 2.0. See LICENSE file in root directory.
+Copyright(c) 2017 Intel Corporation. All Rights Reserved
+
+This is the URDF model for the Intel RealSense 410 camera, in it's
+aluminum peripherial evalution case.
+-->
+
+<robot name="sensor_r410" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <!-- The following values are approximate, and the camera node
+   publishing TF values with actual calibrated camera extrinsic values -->
+  <xacro:property name="r410_cam_depth_to_left_ir_offset" value="-0.0275"/>
+  <xacro:property name="r410_cam_depth_to_right_ir_offset" value="0.0275"/>
+
+  <!-- The following values model the aluminum peripherial case for the
+    R410 camera, with the camera joint represented by the actual 
+    peripherial camera tripod mount -->
+  <xacro:property name="r410_cam_width" value="0.099"/>
+  <xacro:property name="r410_cam_height" value="0.035"/>
+  <xacro:property name="r410_cam_depth" value="0.0185"/>
+  <xacro:property name="r410_cam_mount_from_center_offset" value=".0375"/>
+
+  <!-- The following offset is relative the the physical R410 camera peripherial
+    camera tripod mount -->
+  <xacro:property name="r410_cam_depth_px" value="0.00"/>
+  <xacro:property name="r410_cam_depth_py" value="-0.0425"/>
+  <xacro:property name="r410_cam_depth_pz" value="0.026"/>
+
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+
+  <xacro:macro name="sensor_r410" params="parent *origin">
+
+    <!-- camera body, with origin at bottom screw mount -->
+    <joint name="camera_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="camera_link" />
+    </joint>
+
+    <link name="camera_link">
+      <visual>
+      <origin xyz="0 ${-r410_cam_mount_from_center_offset} ${r410_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
+        <geometry>
+          <box size="${r410_cam_width} ${r410_cam_height} ${r410_cam_depth}"/>
+          <!--<mesh filename="package://realsense_ros_camera/meshes/r410/r410.dae" />-->
+        </geometry>
+        <material name="aluminum"/>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 ${r410_cam_height/2}" rpy="0 0 0"/>
+        <geometry>
+        <box size="${r410_cam_depth} ${r410_cam_width} ${r410_cam_height}"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <!-- The following are not reliable values, and should not be used for modeling -->
+        <mass value="0.564" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
+      </inertial>
+    </link>
+
+    <!-- camera depth joints and links -->
+    <joint name="camera_depth_joint" type="fixed">
+      <origin xyz="${r410_cam_depth_px} ${r410_cam_depth_py} ${r410_cam_depth_pz}" rpy="0 0 0"/>
+      <parent link="camera_link"/>
+      <child link="camera_depth_frame" />
+    </joint>
+    <link name="camera_depth_frame"/>
+
+    <joint name="camera_depth_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_depth_optical_frame" />
+    </joint>
+    <link name="camera_depth_optical_frame"/>
+
+    <!-- camera left IR joints and links -->
+    <joint name="camera_left_ir_joint" type="fixed">
+      <origin xyz="0 ${r410_cam_depth_to_left_ir_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_left_ir_frame" />
+    </joint>
+    <link name="camera_left_ir_frame"/>
+
+    <joint name="camera_left_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_left_ir_frame" />
+      <child link="camera_left_ir_optical_frame" />
+    </joint>
+    <link name="camera_left_ir_optical_frame"/>
+
+    <!-- camera right IR joints and links -->
+    <joint name="camera_right_ir_joint" type="fixed">
+      <origin xyz="0 ${r410_cam_depth_to_right_ir_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_right_ir_frame" />
+    </joint>
+    <link name="camera_right_ir_frame"/>
+
+    <joint name="camera_right_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_right_ir_frame" />
+      <child link="camera_right_ir_optical_frame" />
+    </joint>
+    <link name="camera_right_ir_optical_frame"/>
+  </xacro:macro>
+</robot>