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- <?xml version="1.0"?>
- <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
- <xacro:property name="M_PI" value="3.1415926535897931" />
-
- <xacro:property name="realsense_t265_width" value="0.108"/>
- <xacro:property name="realsense_t265_height" value="0.0245"/>
- <xacro:property name="realsense_t265_depth" value="0.0125"/>
-
-
- <xacro:macro name="realsense_t265_tracking_camera" params="name parent *origin">
- <joint name="${name}_housing_joint" type="fixed">
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_housing_link"/>
- </joint>
-
- <link name="${name}_housing_link">
- <inertial>
- <mass value="0.060" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
- </inertial>
-
- <!--Dimensions taken from https://www.intelrealsense.com/tracking-camera-t265/-->
- <!-- Camera Body-->
- <visual>
- <geometry>
- <box size="${realsense_t265_depth} ${realsense_t265_width} ${realsense_t265_height}" />
- </geometry>
- <material name="Black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <box size="${realsense_t265_depth} ${realsense_t265_width} ${realsense_t265_height}" />
- </geometry>
- </collision>
-
- <!-- Left lense -->
- <visual>
- <origin xyz="${realsense_t265_depth/2.0} 0.0411 0" rpy="0 ${M_PI/2.0} 0" />
- <geometry>
- <cylinder radius="0.0085" length="0.001" />
- </geometry>
- <material name="Gray">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
-
- <!-- Right lense -->
- <visual>
- <origin xyz="${realsense_t265_depth/2.0} -0.0229 0" rpy="0 ${M_PI/2.0} 0" />
- <geometry>
- <cylinder radius="0.0085" length="0.001" />
- </geometry>
- <material name="Gray">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- </link>
-
- <xacro:realsense_t265_tracking_camera_no_geom name="${name}" parent="${name}_housing_link">
- <origin xyz="-0.0003 0.0091 0" rpy="0 0 0" />
- </xacro:realsense_t265_tracking_camera_no_geom>
- </xacro:macro>
-
- <xacro:macro name="realsense_t265_tracking_camera_no_geom" params="name parent *origin">
- <joint name="${name}_pose_joint" type="fixed">
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_pose_frame"/>
- </joint>
-
- <link name="${name}_pose_frame"/>
-
- <joint name="${name}_pose_joint2" type="fixed">
- <origin rpy="${M_PI/2} 0 ${-M_PI/2}"/>
- <parent link="${name}_pose_frame"/>
- <child link="${name}_pose_frame_alt"/>
- </joint>
-
- <link name="${name}_pose_frame_alt"/>
- </xacro:macro>
- </robot>
-
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