Skip to content

Commit c51476f

Browse files
MarqRazzMarqRazz
authored
Remove gz (#8)
1 parent 97c5e3f commit c51476f

File tree

3 files changed

+40
-66
lines changed

3 files changed

+40
-66
lines changed

‎orbbec_description/package.xml‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -9,8 +9,6 @@
99

1010
<buildtool_depend>ament_cmake</buildtool_depend>
1111

12-
<exec_depend>realsense2_gz_description</exec_depend>
13-
1412
<test_depend>ament_lint_auto</test_depend>
1513
<test_depend>ament_lint_common</test_depend>
1614

‎orbbec_description/urdf/gemini335L_336L_macro.urdf.xacro‎

Lines changed: 20 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -5,11 +5,7 @@
55
<xacro:macro name="gemini_335L_336L" params="
66
parent
77
prefix:='camera'
8-
*origin
9-
sim_gazebo:=false
10-
gz_fps:='5'
11-
gz_image_width:='848'
12-
gz_image_height:='530'">
8+
*origin">
139

1410
<!-- The original link started with camera_link -->
1511
<joint name="${prefix}_gemini_mount_fixed_joint" type="fixed">
@@ -51,7 +47,7 @@
5147

5248
<link name="${prefix}_color_screw_frame" />
5349
<joint
54-
name="${prefix}_color_screw_frame_joint"
50+
name="${prefix}_color_screw_joint"
5551
type="fixed">
5652
<origin
5753
xyz="0 0 0"
@@ -66,7 +62,7 @@
6662

6763
<link name="${prefix}_IMU_frame" />
6864
<joint
69-
name="${prefix}_IMU_frame_joint"
65+
name="${prefix}_IMU_joint"
7066
type="fixed">
7167
<origin
7268
xyz="-0.002535 0.039634 0.013243"
@@ -81,7 +77,7 @@
8177

8278
<link name="${prefix}_depth_frame" />
8379
<joint
84-
name="${prefix}_depth_frame_joint"
80+
name="${prefix}_depth_joint"
8581
type="fixed">
8682
<origin
8783
xyz="0.011715 0.0475 0.014311"
@@ -96,7 +92,7 @@
9692

9793
<link name="${prefix}_depth_optical_frame" />
9894
<joint
99-
name="${prefix}_depth_optical_frame_joint"
95+
name="${prefix}_depth_optical_joint"
10096
type="fixed">
10197
<origin
10298
xyz="0 0 0"
@@ -111,7 +107,7 @@
111107

112108
<link name="${prefix}_infra1_frame" />
113109
<joint
114-
name="${prefix}_infra1_frame_joint"
110+
name="${prefix}_infra1_joint"
115111
type="fixed">
116112
<origin
117113
xyz="0.011715 0.0475 0.014311"
@@ -126,7 +122,7 @@
126122

127123
<link name="${prefix}_infra1_optical_frame" />
128124
<joint
129-
name="${prefix}_infra1_optical_frame_joint"
125+
name="${prefix}_infra1_optical_joint"
130126
type="fixed">
131127
<origin
132128
xyz="0 0 0"
@@ -141,7 +137,7 @@
141137

142138
<link name="${prefix}_infra2_frame" />
143139
<joint
144-
name="${prefix}_infra2_frame_joint"
140+
name="${prefix}_infra2_joint"
145141
type="fixed">
146142
<origin
147143
xyz="0.011715 -0.0475 0.014311"
@@ -156,7 +152,7 @@
156152

157153
<link name="${prefix}_infra2_optical_frame" />
158154
<joint
159-
name="${prefix}_infra2_optical_frame_joint"
155+
name="${prefix}_infra2_optical_joint"
160156
type="fixed">
161157
<origin
162158
xyz="0 0 0"
@@ -169,9 +165,17 @@
169165
xyz="0 0 0" />
170166
</joint>
171167

172-
<link name="${prefix}_color_frame" />
168+
<link name="${prefix}_color_frame" >
169+
<inertial>
170+
<mass value="0.01" />
171+
<origin xyz="0 0 0" rpy="0 0 0"/>
172+
<inertia ixx="0.001" ixy="0" ixz="0"
173+
iyx="0" iyy="0.001" iyz="0"
174+
izx="0" izy="0" izz="0.001" />
175+
</inertial>
176+
</link>
173177
<joint
174-
name="${prefix}_color_frame_joint"
178+
name="${prefix}_color_joint"
175179
type="fixed">
176180
<origin
177181
xyz="0.011715 0.02375 0.014311"
@@ -186,7 +190,7 @@
186190

187191
<link name="${prefix}_color_optical_frame" />
188192
<joint
189-
name="${prefix}_color_optical_frame_joint"
193+
name="${prefix}_color_optical_joint"
190194
type="fixed">
191195
<origin
192196
xyz="0 0 0"
@@ -199,21 +203,5 @@
199203
xyz="0 0 0" />
200204
</joint>
201205

202-
<xacro:if value="${sim_gazebo}">
203-
<!-- Use the realsense2_gz_description which can simulate a generic depth camera -->
204-
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />
205-
<!-- TODO: Upstream changes required for a triggered RBGD camera -->
206-
<xacro:gazebo_rgbd
207-
name="${prefix}"
208-
gz_topic_name="${prefix}"
209-
fps="${gz_fps}"
210-
image_width="${gz_image_width}"
211-
image_height="${gz_image_height}"
212-
h_fov="${94 * pi/180}"
213-
v_fov="${68 * pi/180}"
214-
min_depth="0.17"
215-
max_depth="6.0" />
216-
</xacro:if>
217-
218206
</xacro:macro>
219207
</robot>

‎orbbec_description/urdf/gemini335Le_macro.urdf.xacro‎

Lines changed: 20 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -5,11 +5,7 @@
55
<xacro:macro name="gemini_335Le" params="
66
parent
77
name:='camera'
8-
*origin
9-
sim_gazebo:=false
10-
gz_fps:='5'
11-
gz_image_width:='848'
12-
gz_image_height:='530'">
8+
*origin">
139

1410
<!-- The original link started with camera_link -->
1511
<joint name="${name}_gemini_mount_fixed_joint" type="fixed">
@@ -56,7 +52,7 @@
5652

5753
<link name="${name}_bottom_screw_frame" />
5854
<joint
59-
name="${name}_bottom_screw_frame_joint"
55+
name="${name}_bottom_screw_joint"
6056
type="fixed">
6157
<origin
6258
xyz="0 0 0"
@@ -71,7 +67,7 @@
7167

7268
<link name="${name}_infra2_frame" />
7369
<joint
74-
name="${name}_infra2_frame_joint"
70+
name="${name}_infra2_joint"
7571
type="fixed">
7672
<origin
7773
xyz="0.034005 -0.0475 0.014048"
@@ -86,7 +82,7 @@
8682

8783
<link name="${name}_infra2_optical_frame" />
8884
<joint
89-
name="${name}_infra2_optical_frame_joint"
85+
name="${name}_infra2_optical_joint"
9086
type="fixed">
9187
<origin
9288
xyz="0 0 0"
@@ -102,7 +98,7 @@
10298

10399
<link name="${name}_infra1_frame" />
104100
<joint
105-
name="${name}_infra1_frame_joint"
101+
name="${name}_infra1_joint"
106102
type="fixed">
107103
<origin
108104
xyz="0.034005 0.0475 0.014048"
@@ -117,7 +113,7 @@
117113

118114
<link name="${name}_infra1_optical_frame" />
119115
<joint
120-
name="${name}_infra1_optical_frame_joint"
116+
name="${name}_infra1_optical_joint"
121117
type="fixed">
122118
<origin
123119
xyz="0 0 0"
@@ -132,7 +128,7 @@
132128

133129
<link name="${name}_depth_frame" />
134130
<joint
135-
name="${name}_depth_frame_joint"
131+
name="${name}_depth_joint"
136132
type="fixed">
137133
<parent
138134
link="${name}_infra1_frame" />
@@ -144,7 +140,7 @@
144140

145141
<link name="${name}_depth_optical_frame" />
146142
<joint
147-
name="${name}_depth_optical_frame_joint"
143+
name="${name}_depth_optical_joint"
148144
type="fixed">
149145
<parent
150146
link="${name}_infra1_optical_frame" />
@@ -154,9 +150,17 @@
154150
xyz="0 0 0" />
155151
</joint>
156152

157-
<link name="${name}_color_frame" />
153+
<link name="${name}_color_frame" >
154+
<inertial>
155+
<mass value="0.01" />
156+
<origin xyz="0 0 0" rpy="0 0 0"/>
157+
<inertia ixx="0.001" ixy="0" ixz="0"
158+
iyx="0" iyy="0.001" iyz="0"
159+
izx="0" izy="0" izz="0.001" />
160+
</inertial>
161+
</link>
158162
<joint
159-
name="${name}_frame_frame_joint"
163+
name="${name}_color_joint"
160164
type="fixed">
161165
<origin
162166
xyz="0.034014 0.02375 0.014048"
@@ -171,7 +175,7 @@
171175

172176
<link name="${name}_color_optical_frame" />
173177
<joint
174-
name="${name}_color_optical_frame_joint"
178+
name="${name}_color_optical_joint"
175179
type="fixed">
176180
<origin
177181
xyz="0 0 0"
@@ -186,7 +190,7 @@
186190

187191
<link name="${name}_imu_frame" />
188192
<joint
189-
name="${name}_imu_frame_joint"
193+
name="${name}_imu_joint"
190194
type="fixed">
191195
<origin
192196
xyz="0.019757 0.03619 0.013358"
@@ -199,21 +203,5 @@
199203
xyz="0 0 0" />
200204
</joint>
201205

202-
<xacro:if value="${sim_gazebo}">
203-
<!-- Use the realsense2_gz_description which can simulate a generic depth camera -->
204-
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />
205-
<!-- TODO: Upstream changes required for a triggered RBGD camera -->
206-
<xacro:gazebo_rgbd
207-
name="${name}"
208-
gz_topic_name="${name}"
209-
fps="${gz_fps}"
210-
image_width="${gz_image_width}"
211-
image_height="${gz_image_height}"
212-
h_fov="${94 * pi/180}"
213-
v_fov="${68 * pi/180}"
214-
min_depth="0.25"
215-
max_depth="6.0" />
216-
</xacro:if>
217-
218206
</xacro:macro>
219207
</robot>

0 commit comments

Comments
 (0)