Skip to content
This repository was archived by the owner on Jul 26, 2024. It is now read-only.

Commit 25b1a5f

Browse files
exo-coreexo-core
committed
removed old description, fixed formatting, added documentation and stand model for stand model for standalone version
1 parent 9d0dd35 commit 25b1a5f

11 files changed

+250
-76
lines changed

‎launch/driver.launch‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@ Licensed under the MIT License.
1616

1717
<group unless="$(arg overwrite_robot_description)">
1818
<param name="azure_description"
19-
command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
19+
command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
2020
<node name="joint_state_publisher_azure" pkg="joint_state_publisher" type="joint_state_publisher">
2121
<remap from="robot_description" to="azure_description" />
2222
</node>

‎launch/kinect_rgbd.launch‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@
99

1010
<group if="$(arg overwrite_robot_description)">
1111
<param name="robot_description"
12-
command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
12+
command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
1313
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
1414
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
1515
</group>

‎launch/slam_rtabmap.launch‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ Licensed under the MIT License.
66
<launch>
77

88
<param name="robot_description"
9-
command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro" />
9+
command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro" />
1010

1111
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
1212
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

meshes/collision.dae renamed to meshes/azure_collision.dae

File renamed without changes.

meshes/visual.dae renamed to meshes/azure_visual.dae

File renamed without changes.

‎meshes/model.blend‎

71 KB
Binary file not shown.

‎meshes/stand_collision.dae‎

Lines changed: 101 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,101 @@
1+
<?xml version="1.0" encoding="utf-8"?>
2+
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
3+
<asset>
4+
<contributor>
5+
<author>Blender User</author>
6+
<authoring_tool>Blender 3.2.2 commit date:2022-08-02, commit time:18:15, hash:bcfdb14560e7</authoring_tool>
7+
</contributor>
8+
<created>2022-08-25T14:48:04</created>
9+
<modified>2022-08-25T14:48:04</modified>
10+
<unit name="meter" meter="1"/>
11+
<up_axis>Z_UP</up_axis>
12+
</asset>
13+
<library_effects>
14+
<effect id="Collision_Model-effect">
15+
<profile_COMMON>
16+
<technique sid="common">
17+
<lambert>
18+
<emission>
19+
<color sid="emission">0 0 0 1</color>
20+
</emission>
21+
<diffuse>
22+
<color sid="diffuse">1 0.2 0 1</color>
23+
</diffuse>
24+
<reflectivity>
25+
<float sid="specular">0.5</float>
26+
</reflectivity>
27+
</lambert>
28+
</technique>
29+
</profile_COMMON>
30+
</effect>
31+
</library_effects>
32+
<library_images/>
33+
<library_materials>
34+
<material id="Collision_Model-material" name="Collision Model">
35+
<instance_effect url="#Collision_Model-effect"/>
36+
</material>
37+
</library_materials>
38+
<library_geometries>
39+
<geometry id="Circle-mesh" name="Circle">
40+
<mesh>
41+
<source id="Circle-mesh-positions">
42+
<float_array id="Circle-mesh-positions-array" count="192">0 1 0 -0.1950903 0.9807853 0 -0.3826835 0.9238795 0 -0.5555703 0.8314696 0 -0.7071068 0.7071068 0 -0.8314696 0.5555703 0 -0.9238795 0.3826834 0 -0.9807853 0.1950903 0 -1 0 0 -0.9807853 -0.1950903 0 -0.9238796 -0.3826834 0 -0.8314697 -0.5555702 0 -0.7071068 -0.7071068 0 -0.5555702 -0.8314697 0 -0.3826835 -0.9238795 0 -0.1950903 -0.9807853 0 0 -1 0 0.1950902 -0.9807853 0 0.3826834 -0.9238795 0 0.5555703 -0.8314695 0 0.7071067 -0.7071068 0 0.8314695 -0.5555704 0 0.9238795 -0.3826836 0 0.9807853 -0.1950904 0 1 0 0 0.9807853 0.1950904 0 0.9238795 0.3826836 0 0.8314697 0.5555701 0 0.7071069 0.7071067 0 0.5555703 0.8314696 0 0.3826834 0.9238796 0 0.1950902 0.9807853 0 0 0.9715358 0.02349996 -0.1896129 0.9532483 0.023207 0.806431 0.5388398 0.02474594 0.6859874 0.6859872 0.02455985 -0.3720819 -0.8982851 0.02292513 -0.1896128 -0.9532484 0.023207 -0.3720819 0.8982851 0.02292513 0.5391437 0.8068855 0.02433294 0 -0.9715358 0.02349996 -0.5403704 0.8087214 0.02266508 0.3714998 0.89688 0.02407395 0.1894615 -0.9524879 0.02379268 -0.6879746 0.6879746 0.02243703 0.1894615 0.9524879 0.02379268 0.3714998 -0.8968799 0.02407395 -0.8091786 0.5406759 0.02224981 0.5391437 -0.8068854 0.02433294 -0.8992814 0.3724945 0.02211058 0.6859872 -0.6859874 0.02455985 -0.9547834 0.1899182 0.02202481 0.8064308 -0.5388401 0.02474594 -0.973527 0 0.0219959 0.8958889 -0.3710895 0.0248841 -0.9547834 -0.1899182 0.02202481 0.9509602 -0.1891578 0.02496922 -0.8992815 -0.3724945 0.02211058 0.9695526 0 0.02499794 -0.8091787 -0.5406758 0.02224981 0.9509602 0.1891578 0.02496922 -0.6879746 -0.6879746 0.02243703 0.8958889 0.3710895 0.0248841 -0.5403704 -0.8087215 0.02266508</float_array>
43+
<technique_common>
44+
<accessor source="#Circle-mesh-positions-array" count="64" stride="3">
45+
<param name="X" type="float"/>
46+
<param name="Y" type="float"/>
47+
<param name="Z" type="float"/>
48+
</accessor>
49+
</technique_common>
50+
</source>
51+
<source id="Circle-mesh-normals">
52+
<float_array id="Circle-mesh-normals-array" count="285">-0.06247234 0.6354146 0.7696399 0.4922264 0.4038744 0.7711024 -0.1853664 -0.6114404 0.7692723 -0.1853668 0.6114421 0.7692709 0.4041489 0.4923278 0.7708936 -0.06247192 -0.6354129 0.7696414 -0.3013036 0.5639117 0.7689082 0.3004913 0.5619798 0.7706386 0.06258225 -0.6354086 0.7696359 -0.4057997 0.4946089 0.7685627 0.1851955 0.6101529 0.7703351 0.1852168 -0.6105777 0.7699933 -0.4947946 0.4061626 0.7682514 0.0626471 0.6349592 0.7700015 0.3005841 -0.5623532 0.7703299 -0.5648092 0.3019601 0.7679914 0.4042859 -0.4926242 0.7706325 -0.6130989 0.1860172 0.7677938 0.4923828 -0.4040883 0.7708902 -0.6377578 0.06282567 0.7676705 0.5615327 -0.3001458 0.771099 -0.6377578 -0.06282585 0.7676705 0.6091212 -0.1847751 0.771252 -0.6130989 -0.1860178 0.7677938 0.6333531 -0.06237971 0.7713447 -0.5648094 -0.3019594 0.7679914 0.6333159 0.06236588 0.7713764 -0.494795 -0.4061629 0.7682511 0.6090207 0.1847128 0.7713463 -0.4057998 -0.4946088 0.7685628 0.5613903 0.3000133 0.7712542 -0.3013038 -0.5639122 0.7689078 0 0 -1 -0.001544952 0 0.9999989 -0.06262594 0.6358514 0.7692666 0.4923822 0.4040874 0.7708913 -0.185599 -0.6118376 0.7689004 -0.1855974 0.6118331 0.7689043 0.4042858 0.4926239 0.7706327 -0.06262576 -0.6358517 0.7692664 -0.3015899 0.5642349 0.7685588 0.3005841 0.5623532 0.7703299 0.06264734 -0.6349611 0.7699999 -0.4061095 0.4948458 0.7682467 0.185216 0.6105759 0.7699949 0.1851957 -0.6101529 0.7703351 -0.495086 0.4063063 0.7679877 0.06258225 0.6354091 0.7696356 0.3004922 -0.5619816 0.7706369 -0.5650465 0.3020236 0.7677918 0.4041471 -0.4923262 0.7708956 -0.6132509 0.1860275 0.76767 0.4922262 -0.4038736 0.7711029 -0.6378085 0.0628181 0.767629 0.5613901 -0.300014 0.7712541 -0.6378085 -0.0628181 0.767629 0.6090208 -0.1847129 0.7713462 -0.6132513 -0.1860271 0.7676697 0.633316 -0.06236588 0.7713763 -0.5650465 -0.3020236 0.7677919 0.6333531 0.06237971 0.7713447 -0.4950852 -0.4063066 0.7679882 0.6091212 0.1847756 0.771252 -0.4061099 -0.494846 0.7682462 0.5615325 0.3001453 0.7710993 -0.3015911 -0.5642376 0.7685563 -0.001544952 0 0.9999988 -0.001544952 0 0.9999989 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999989 -0.001545011 0 0.9999988 -0.001544952 0 0.9999988 -0.001545131 0 0.9999988 -0.001545131 0 0.9999988 -0.001544952 0 0.9999989 -0.001545011 0 0.9999989 -0.001544952 0 0.9999988 -0.001545011 0 0.9999988 -0.001544892 0 0.9999988 -0.001545011 0 0.9999989 -0.001544773 0 0.9999988 -0.001545131 0 0.9999988 -0.001544892 0 0.9999988 -0.001544892 0 0.9999989 -0.001544952 0 0.9999989 -0.001544952 0 0.9999989 -0.001545011 0 0.9999988 -0.001544952 0 0.9999989 -0.001544952 0 0.9999988 -0.001545011 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988</float_array>
53+
<technique_common>
54+
<accessor source="#Circle-mesh-normals-array" count="95" stride="3">
55+
<param name="X" type="float"/>
56+
<param name="Y" type="float"/>
57+
<param name="Z" type="float"/>
58+
</accessor>
59+
</technique_common>
60+
</source>
61+
<source id="Circle-mesh-map-0">
62+
<float_array id="Circle-mesh-map-0-array" count="744">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.7581375 0.5227244 0.7847273 0.56699 0.7731909 0.7117691 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.7731909 0.7117691 0.7659685 0.7213785 0.7581375 0.7272756 0.7581375 0.7272756 0.75 0.7292378 0.7731909 0.7117691 0.75 0.7292378 0.741869 0.727194 0.7731909 0.7117691 0.741869 0.727194 0.7340565 0.7212278 0.7153907 0.6828131 0.7340565 0.7212278 0.7268617 0.7115721 0.7153907 0.6828131 0.7268617 0.7115721 0.7205597 0.6986008 0.7153907 0.6828131 0.7153907 0.6828131 0.7115514 0.6648148 0.7091879 0.645295 0.7091879 0.645295 0.70839 0.625 0.7091879 0.6047049 0.7091879 0.6047049 0.7115514 0.5851852 0.7153907 0.567187 0.7153907 0.567187 0.7205597 0.5513994 0.7268617 0.538428 0.7268617 0.538428 0.7340564 0.5287722 0.7418689 0.522806 0.7418689 0.522806 0.7500001 0.5207623 0.7581375 0.5227244 0.7581375 0.5227244 0.7659685 0.5286215 0.7847273 0.56699 0.7659685 0.5286215 0.7731909 0.538231 0.7847273 0.56699 0.7731909 0.538231 0.7795255 0.551186 0.7847273 0.56699 0.7847273 0.56699 0.7885941 0.5850344 0.7909761 0.6046233 0.7909761 0.6046233 0.7917805 0.625 0.7909762 0.6453767 0.7909762 0.6453767 0.7885942 0.6649656 0.7847273 0.68301 0.7847273 0.68301 0.7795256 0.6988139 0.7731909 0.7117691 0.7153907 0.6828131 0.7091879 0.645295 0.7091879 0.6047049 0.7091879 0.6047049 0.7153907 0.567187 0.7153907 0.6828131 0.7153907 0.567187 0.7268617 0.538428 0.7153907 0.6828131 0.7268617 0.538428 0.7418689 0.522806 0.7581375 0.5227244 0.7847273 0.56699 0.7909761 0.6046233 0.7909762 0.6453767 0.7909762 0.6453767 0.7847273 0.68301 0.7847273 0.56699 0.7847273 0.68301 0.7731909 0.7117691 0.7847273 0.56699 0.7731909 0.7117691 0.741869 0.727194 0.7268617 0.538428 0.741869 0.727194 0.7153907 0.6828131 0.7268617 0.538428 0.7268617 0.538428 0.7581375 0.5227244 0.7731909 0.7117691</float_array>
63+
<technique_common>
64+
<accessor source="#Circle-mesh-map-0-array" count="372" stride="2">
65+
<param name="S" type="float"/>
66+
<param name="T" type="float"/>
67+
</accessor>
68+
</technique_common>
69+
</source>
70+
<vertices id="Circle-mesh-vertices">
71+
<input semantic="POSITION" source="#Circle-mesh-positions"/>
72+
</vertices>
73+
<triangles material="Collision_Model-material" count="124">
74+
<input semantic="VERTEX" source="#Circle-mesh-vertices" offset="0"/>
75+
<input semantic="NORMAL" source="#Circle-mesh-normals" offset="1"/>
76+
<input semantic="TEXCOORD" source="#Circle-mesh-map-0" offset="2" set="0"/>
77+
<p>0 0 0 33 0 1 32 0 2 27 1 3 35 1 4 34 1 5 36 2 6 15 2 7 37 2 8 1 3 9 38 3 10 33 3 11 28 4 12 39 4 13 35 4 14 37 5 15 16 5 16 40 5 17 2 6 18 41 6 19 38 6 20 29 7 21 42 7 22 39 7 23 17 8 24 40 8 25 16 8 26 3 9 27 44 9 28 41 9 29 30 10 30 45 10 31 42 10 32 18 11 33 43 11 34 17 11 35 4 12 36 47 12 37 44 12 38 31 13 39 32 13 40 45 13 41 19 14 42 46 14 43 18 14 44 5 15 45 49 15 46 47 15 47 20 16 48 48 16 49 19 16 50 6 17 51 51 17 52 49 17 53 21 18 54 50 18 55 20 18 56 7 19 57 53 19 58 51 19 59 22 20 60 52 20 61 21 20 62 53 21 63 9 21 64 55 21 65 23 22 66 54 22 67 22 22 68 55 23 69 10 23 70 57 23 71 24 24 72 56 24 73 23 24 74 57 25 75 11 25 76 59 25 77 24 26 78 60 26 79 58 26 80 59 27 81 12 27 82 61 27 83 25 28 84 62 28 85 60 28 86 61 29 87 13 29 88 63 29 89 26 30 90 34 30 91 62 30 92 63 31 93 14 31 94 36 31 95 17 32 96 9 32 97 1 32 98 33 33 99 47 33 100 63 33 101 0 34 102 1 34 103 33 34 104 27 35 105 28 35 106 35 35 107 36 36 108 14 36 109 15 36 110 1 37 111 2 37 112 38 37 113 28 38 114 29 38 115 39 38 116 37 39 117 15 39 118 16 39 119 2 40 120 3 40 121 41 40 122 29 41 123 30 41 124 42 41 125 17 42 126 43 42 127 40 42 128 3 43 129 4 43 130 44 43 131 30 44 132 31 44 133 45 44 134 18 45 135 46 45 136 43 45 137 4 46 138 5 46 139 47 46 140 31 47 141 0 47 142 32 47 143 19 48 144 48 48 145 46 48 146 5 49 147 6 49 148 49 49 149 20 50 150 50 50 151 48 50 152 6 51 153 7 51 154 51 51 155 21 52 156 52 52 157 50 52 158 7 53 159 8 53 160 53 53 161 22 54 162 54 54 163 52 54 164 53 55 165 8 55 166 9 55 167 23 56 168 56 56 169 54 56 170 55 57 171 9 57 172 10 57 173 24 58 174 58 58 175 56 58 176 57 59 177 10 59 178 11 59 179 24 60 180 25 60 181 60 60 182 59 61 183 11 61 184 12 61 185 25 62 186 26 62 187 62 62 188 61 63 189 12 63 190 13 63 191 26 64 192 27 64 193 34 64 194 63 65 195 13 65 196 14 65 197 1 32 198 0 32 199 31 32 200 31 32 201 30 32 202 29 32 203 29 32 204 28 32 205 27 32 206 27 32 207 26 32 208 25 32 209 25 32 210 24 32 211 23 32 212 23 32 213 22 32 214 21 32 215 21 32 216 20 32 217 19 32 218 19 32 219 18 32 220 17 32 221 17 32 222 16 32 223 15 32 224 15 32 225 14 32 226 17 32 227 14 32 228 13 32 229 17 32 230 13 32 231 12 32 232 9 32 233 12 32 234 11 32 235 9 32 236 11 32 237 10 32 238 9 32 239 9 32 240 8 32 241 7 32 242 7 32 243 6 32 244 5 32 245 5 32 246 4 32 247 3 32 248 3 32 249 2 32 250 1 32 251 1 32 252 31 32 253 29 32 254 29 32 255 27 32 256 1 32 257 27 32 258 25 32 259 1 32 260 25 32 261 23 32 262 17 32 263 23 32 264 21 32 265 17 32 266 21 32 267 19 32 268 17 32 269 9 32 270 7 32 271 1 32 272 7 32 273 5 32 274 1 32 275 5 32 276 3 32 277 1 32 278 17 32 279 13 32 280 9 32 281 1 32 282 25 32 283 17 32 284 63 66 285 36 66 286 37 66 287 37 67 288 40 67 289 63 67 290 40 68 291 43 68 292 63 68 293 43 69 294 46 69 295 52 69 296 46 70 297 48 70 298 52 70 299 48 71 300 50 71 301 52 71 302 52 72 303 54 72 304 56 72 305 56 73 306 58 73 307 60 73 308 60 74 309 62 74 310 34 74 311 34 75 312 35 75 313 39 75 314 39 76 315 42 76 316 45 76 317 45 77 318 32 77 319 33 77 320 33 78 321 38 78 322 47 78 323 38 79 324 41 79 325 47 79 326 41 80 327 44 80 328 47 80 329 47 81 330 49 81 331 51 81 332 51 82 333 53 82 334 55 82 335 55 83 336 57 83 337 59 83 338 59 84 339 61 84 340 63 84 341 52 85 342 56 85 343 60 85 344 60 86 345 34 86 346 52 86 347 34 87 348 39 87 349 52 87 350 39 88 351 45 88 352 33 88 353 47 89 354 51 89 355 55 89 356 55 90 357 59 90 358 47 90 359 59 91 360 63 91 361 47 91 362 63 92 363 43 92 364 39 92 365 43 93 366 52 93 367 39 93 368 39 94 369 33 94 370 63 94 371</p>
78+
</triangles>
79+
</mesh>
80+
</geometry>
81+
</library_geometries>
82+
<library_visual_scenes>
83+
<visual_scene id="Scene" name="Scene">
84+
<node id="stand_collision" name="stand_collision" type="NODE">
85+
<matrix sid="transform">0.02575 0 0 0 0 0.02575 0 0 0 0 1 0 0 0 0 1</matrix>
86+
<instance_geometry url="#Circle-mesh" name="stand_collision">
87+
<bind_material>
88+
<technique_common>
89+
<instance_material symbol="Collision_Model-material" target="#Collision_Model-material">
90+
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
91+
</instance_material>
92+
</technique_common>
93+
</bind_material>
94+
</instance_geometry>
95+
</node>
96+
</visual_scene>
97+
</library_visual_scenes>
98+
<scene>
99+
<instance_visual_scene url="#Scene"/>
100+
</scene>
101+
</COLLADA>

0 commit comments

Comments
 (0)