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Enhanced URDF Model #240

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Enhanced URDF Model #240

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d28abdc
new meshes and URDF description
exo-core Feb 14, 2022
d6e69db
new parameter to switch between CAD data and factory calibration
exo-core Aug 25, 2022
8d457a1
Merge branch 'melodic' into enhance_urdf_model
exo-core Sep 21, 2023
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3 changes: 3 additions & 0 deletions .gitignore
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Expand Up @@ -56,3 +56,6 @@ modules.order
Module.symvers
Mkfile.old
dkms.conf

#Blender Autosave
*.blend?
8 changes: 4 additions & 4 deletions include/azure_kinect_ros_driver/k4a_calibration_transform_data.h
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Expand Up @@ -46,10 +46,10 @@ class K4ACalibrationTransformData
k4a::image transformed_depth_image_;

std::string tf_prefix_ = "";
std::string camera_base_frame_ = "camera_base";
std::string rgb_camera_frame_ = "rgb_camera_link";
std::string depth_camera_frame_ = "depth_camera_link";
std::string imu_frame_ = "imu_link";
std::string camera_base_frame_ = "azure_camera_base";
std::string rgb_camera_frame_ = "azure_rgb";
std::string depth_camera_frame_ = "azure_depth";
std::string imu_frame_ = "azure_imu";

private:
void initialize(K4AROSDeviceParams params);
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3 changes: 2 additions & 1 deletion include/azure_kinect_ros_driver/k4a_ros_device_params.h
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Expand Up @@ -57,9 +57,10 @@
"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)", \
bool, true) \
LIST_ENTRY(calibration_url, 'URL to folder with calibration files (default: "file://$HOME/.ros/camera_info/").', \
LIST_ENTRY(calibration_url, 'URL to folder with calibration files (default: "file://$HOME/.ros/camera_info/").', \
std::string, {}) \
LIST_ENTRY(tf_prefix, "The prefix prepended to tf frame ID's", std::string, std::string()) \
LIST_ENTRY(publish_calibrated_poses, "Publish calibrated sensors poses at runtime", bool, true) \
LIST_ENTRY(recording_file, "Path to a recording file to open instead of opening a device", std::string, \
std::string("")) \
LIST_ENTRY(recording_loop_enabled, "True if the recording should be rewound at EOF", bool, false) \
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32 changes: 17 additions & 15 deletions launch/driver.launch
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Expand Up @@ -5,18 +5,19 @@ Licensed under the MIT License.

<launch>
<arg name="tf_prefix" default="" /> <!-- Prefix added to tf frame IDs. It typically contains a trailing '_' unless empty. -->
<arg name="publish_calibrated_poses" default="true" /> <!-- Flag to publish the relative poses between IMU, RGB and depth camera from factory calibration parameters during runtime. -->
<arg name="overwrite_robot_description" default="true" /> <!-- Flag to publish a standalone azure_description instead of the default robot_descrition 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 $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix) publish_calibrated_poses:=$(arg publish_calibrated_poses)" />
<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>

<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>
Expand All @@ -34,17 +35,17 @@ 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="$(arg required)">
Expand All @@ -57,17 +58,18 @@ Licensed under the MIT License.
<param name="fps" type="int" value="$(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="publish_calibrated_poses" type="bool" value="$(arg publish_calibrated_poses)" />
<param name="recording_file" type="string" value="$(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>
10 changes: 6 additions & 4 deletions launch/kinect_rgbd.launch
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Expand Up @@ -3,13 +3,14 @@

<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="publish_calibrated_poses" default="true" /> <!-- Flag to publish the relative poses between IMU, RGB and depth camera from factory calibration parameters during runtime. -->
<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) publish_calibrated_poses:=$(arg publish_calibrated_poses)" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</group>
Expand Down Expand Up @@ -95,6 +96,7 @@
<param name="point_cloud_in_depth_frame" value="$(arg point_cloud_in_depth_frame)" />
<param name="sensor_sn" value="$(arg sensor_sn)" />
<param name="tf_prefix" value="$(arg tf_prefix)" />
<param name="publish_calibrated_poses" value="$(arg publish_calibrated_poses)" />
<param name="recording_file" value="$(arg recording_file)" />
<param name="recording_loop_enabled" value="$(arg recording_loop_enabled)" />
<param name="calibration_url" value="$(arg calibration_url)" />
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2 changes: 1 addition & 1 deletion launch/slam_rtabmap.launch
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Expand Up @@ -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" />
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