new meshes and URDF description

Author: exo-core

.gitignore

@@ -56,3 +56,6 @@ modules.order
 Module.symvers
 Mkfile.old
 dkms.conf
+
+#Blender Autosave
+*.blend?

launch/driver.launch

@@ -16,7 +16,7 @@ Licensed under the MIT License.
 
   <group unless="$(arg overwrite_robot_description)">
     <param name="azure_description"
-      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
+      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
     <node name="joint_state_publisher_azure" pkg="joint_state_publisher" type="joint_state_publisher">
       <remap from="robot_description" to="azure_description" />
     </node>  
@@ -34,17 +34,17 @@ Licensed under the MIT License.
   <arg name="fps"                     default="5" />              <!-- FPS to run both cameras at. Valid options are 5, 15, and 30 -->
   <arg name="point_cloud"             default="true" />           <!-- Generate a point cloud from depth data. Requires depth_enabled -->
   <arg name="rgb_point_cloud"         default="true" />           <!-- Colorize the point cloud using the RBG camera. Requires color_enabled and depth_enabled -->
-  <arg name="point_cloud_in_depth_frame" default="false" />        <!-- Whether the RGB pointcloud is rendered in the depth frame (true) or RGB frame (false). Will either match the resolution of the depth camera (true) or the RGB camera (false). -->
+  <arg name="point_cloud_in_depth_frame" default="false" />       <!-- Whether the RGB pointcloud is rendered in the depth frame (true) or RGB frame (false). Will either match the resolution of the depth camera (true) or the RGB camera (false). -->
   <arg name="required"                default="false" />          <!-- Argument which specified if the entire launch file should terminate if the node dies -->
   <arg name="sensor_sn"               default="" />               <!-- Sensor serial number. If none provided, the first sensor will be selected -->
   <arg name="recording_file"          default="" />               <!-- Absolute path to a mkv recording file which will be used with the playback api instead of opening a device -->
   <arg name="recording_loop_enabled"  default="false" />          <!-- If set to true the recording file will rewind the beginning once end of file is reached -->
-  <arg name="body_tracking_enabled"           default="false" />  <!-- If set to true the joint positions will be published as marker arrays -->
+  <arg name="body_tracking_enabled"   default="false" />          <!-- If set to true the joint positions will be published as marker arrays -->
   <arg name="body_tracking_smoothing_factor"  default="0.0" />    <!-- Set between 0 for no smoothing and 1 for full smoothing -->
-  <arg name="rescale_ir_to_mono8"  default="false" />    <!-- Whether to rescale the IR image to an 8-bit monochrome image for visualization and further processing. A scaling factor (ir_mono8_scaling_factor) is applied. -->
-  <arg name="ir_mono8_scaling_factor"  default="1.0" />    <!-- Scaling factor to apply when converting IR to mono8 (see rescale_ir_to_mono8). If using illumination, use the value 0.5-1. If using passive IR, use 10. -->
-  <arg name="imu_rate_target" default="0"/>                       <!-- Desired output rate of IMU messages. Set to 0 (default) for full rate (1.6 kHz). --> 
-  <arg name="wired_sync_mode" default="0"/>                       <!-- Wired sync mode. 0: OFF, 1: MASTER, 2: SUBORDINATE. --> 
+  <arg name="rescale_ir_to_mono8"     default="false" />          <!-- Whether to rescale the IR image to an 8-bit monochrome image for visualization and further processing. A scaling factor (ir_mono8_scaling_factor) is applied. -->
+  <arg name="ir_mono8_scaling_factor" default="1.0" />            <!-- Scaling factor to apply when converting IR to mono8 (see rescale_ir_to_mono8). If using illumination, use the value 0.5-1. If using passive IR, use 10. -->
+  <arg name="imu_rate_target"         default="0"/>               <!-- Desired output rate of IMU messages. Set to 0 (default) for full rate (1.6 kHz). -->
+  <arg name="wired_sync_mode"         default="0"/>               <!-- Wired sync mode. 0: OFF, 1: MASTER, 2: SUBORDINATE. -->
   <arg name="subordinate_delay_off_master_usec" default="0"/>     <!-- Delay subordinate camera off master camera by specified amount in usec. --> 
 
   <node pkg="azure_kinect_ros_driver" type="node" name="azure_kinect_ros_driver" output="screen" required="$(arg required)">
@@ -57,17 +57,17 @@ Licensed under the MIT License.
     <param name="fps"               type="int"    value="$(arg fps)" />
     <param name="point_cloud"       type="bool"   value="$(arg point_cloud)" />
     <param name="rgb_point_cloud"   type="bool"   value="$(arg rgb_point_cloud)" />
-    <param name="point_cloud_in_depth_frame"   type="bool"   value="$(arg point_cloud_in_depth_frame)" />
+    <param name="point_cloud_in_depth_frame" type="bool" value="$(arg point_cloud_in_depth_frame)" />
     <param name="sensor_sn"         type="string" value="$(arg sensor_sn)" />
     <param name="tf_prefix"         type="string" value="$(arg tf_prefix)" />
-    <param name="recording_file"          type="string" value="$(arg recording_file)" />
-    <param name="recording_loop_enabled"  type="bool"   value="$(arg recording_loop_enabled)" />
-    <param name="body_tracking_enabled"           type="bool"   value="$(arg body_tracking_enabled)" />
-    <param name="body_tracking_smoothing_factor"  type="double" value="$(arg body_tracking_smoothing_factor)" />
+    <param name="recording_file"    type="string" value="$(arg recording_file)" />
+    <param name="recording_loop_enabled" type="bool" value="$(arg recording_loop_enabled)" />
+    <param name="body_tracking_enabled" type="bool" value="$(arg body_tracking_enabled)" />
+    <param name="body_tracking_smoothing_factor" type="double" value="$(arg body_tracking_smoothing_factor)" />
     <param name="rescale_ir_to_mono8" type="bool" value="$(arg rescale_ir_to_mono8)" />
     <param name="ir_mono8_scaling_factor" type="double" value="$(arg ir_mono8_scaling_factor)" />
-    <param name="imu_rate_target" type="int" value="$(arg imu_rate_target)"/>
-    <param name="wired_sync_mode" type="int" value="$(arg wired_sync_mode)"/>
+    <param name="imu_rate_target"   type="int"    value="$(arg imu_rate_target)"/>
+    <param name="wired_sync_mode"   type="int"    value="$(arg wired_sync_mode)"/>
     <param name="subordinate_delay_off_master_usec" type="int" value="$(arg subordinate_delay_off_master_usec)"/>
   </node>
 </launch>

launch/kinect_rgbd.launch

@@ -3,13 +3,13 @@
 
   <arg name="camera" default="k4a" />
 
-  <!-- publish Azure Kinect coordiante frames -->
-  <arg name="tf_prefix"         default="" />                       <!-- Prefix added to tf frame IDs. It typically contains a trailing '_' unless empty. -->
-  <arg name="overwrite_robot_description" default="true" />         <!-- Flag to publish a standalone azure_description instead of the default robot_descrition parameter-->
+  <!-- publish Azure Kinect coordinate frames -->
+  <arg name="tf_prefix"                   default="" />               <!-- Prefix added to tf frame IDs. It typically contains a trailing '_' unless empty. -->
+  <arg name="overwrite_robot_description" default="true" />           <!-- Flag to publish a standalone azure_description instead of the default robot_description parameter-->
 
   <group if="$(arg overwrite_robot_description)">
     <param name="robot_description"
-      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
+      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   </group>

launch/slam_rtabmap.launch

@@ -6,7 +6,7 @@ Licensed under the MIT License.
 <launch>
 
   <param name="robot_description"
-    command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro" />
+    command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro" />
 
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />