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I spent some time the last days creating an enhanced URDF description of the Azure based on some actual meshes, as well as adding plugin settings for Gazebo simulation.
Details:
Created a new URDF descriptions and meshes derived from the CAD model available at Azure-Kinect-Sensor-SDK (MIT license)
The meshes were manually optimized in Blender. I removed the hole pattern in the sensor housing to reduce the number of vertices, but kept a few ones to mark the positions of the microphones.
Included a simplified mesh version for collision model
The model base is centered on the backmost tripod screw and includes additional coordinate frames for the RGB camera, IR camera and gyro according to the hardware specifications.
The new URDF model located in a new file urdf/azure_kinect_new.urdf.xacro, while leaving the old one untouched for compatibility
The changes can be found in my fork of the Azure ROS driver. So far I tested the changes only on Ubuntu and ROS1, but I guess they should also work for ROS2, since far as I know there were no changes to the URDF format.
So long story short: Please let me know whether there is a general interest in creating a PR.
The text was updated successfully, but these errors were encountered:
I spent some time the last days creating an enhanced URDF description of the Azure based on some actual meshes, as well as adding plugin settings for Gazebo simulation.
Details:
urdf/azure_kinect_new.urdf.xacro
, while leaving the old one untouched for compatibilityThe changes can be found in my fork of the Azure ROS driver. So far I tested the changes only on Ubuntu and ROS1, but I guess they should also work for ROS2, since far as I know there were no changes to the URDF format.
So long story short: Please let me know whether there is a general interest in creating a PR.
The text was updated successfully, but these errors were encountered: