robossembler/aubo_ros2_description
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feat: add second camera

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Ilya Uraev 2025-06-03 15:50:01 +03:00
parent a10ded747a
commit fb111da6bc
3 changed files with 14 additions and 5 deletions
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7
config/gz_bridge.yaml
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@ -3,7 +3,12 @@
gz_type_name: "gz.msgs.Clock"
direction: GZ_TO_ROS
- topic_name: "/rgbd_camera/image"
- topic_name: "/inner_rgbd_camera/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS
- topic_name: "/outer_rgbd_camera/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS

8
urdf/aubo_i5.urdf.xacro
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@ -251,8 +251,12 @@
</xacro:simple_parallel_gripper>
<xacro:rgbd parent="wrist3_Link" tf_prefix="">
<origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
<xacro:rgbd parent="wrist3_Link" tf_prefix="inner_">
<origin xyz="0.0 0.05 0.0" rpy="0.0 -1.47 -1.57" />
</xacro:rgbd>
<xacro:rgbd parent="base_link" tf_prefix="outer_">
<origin xyz="0.62179261445999146 -0.83430188894271851 0.85204130411148071" rpy="0.00 0.608 1.934" />
</xacro:rgbd>
<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />

4
urdf/sensors.xacro
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@ -30,8 +30,8 @@
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>