Merge pull request #61 from Nishida-Lab/multi-kinect

複数のKinectに対応
Nishida-Lab · Feb 19, 2016 · 5025413 · 5025413
2 parents 7c52392 + 427d9c5
commit 5025413
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Showing 26 changed files with 1,712 additions and 96 deletions.
diff --git a/motoman_description/launch/sia5/sia5_with_multi_kinectv2.launch b/motoman_description/launch/sia5/sia5_with_multi_kinectv2.launch
@@ -0,0 +1,10 @@
+<launch>
+  <arg name="model" default="$(find motoman_description)/robots/sia5/sia5_with_multi_kinectv2.urdf.xacro"/>
+  <arg name="gui" default="True" />
+
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'"/>
+  <param name="use_gui" value="$(arg gui)"/>
+  <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" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find motoman_description)/launch/sia5/rviz/sia5_with_table.rviz" required="true" />
+</launch>
diff --git a/motoman_description/robots/sia5/sia5_gazebo_nishida_lab.urdf.xacro b/motoman_description/robots/sia5/sia5_gazebo_nishida_lab.urdf.xacro
@@ -15,7 +15,7 @@
   <!-- Link -->
   <xacro:kinect2_link_box_v0 name="kinect2_link"/>
   <link name="kinect2_rgb_optical_frame"/>
-  
+
   <!-- Joint -->
   <joint name="joint_kinect2" type="fixed">
     <origin rpy="0 ${10*M_PI/180} ${M_PI}" xyz="1.02024 0.30 0.3595"/>
@@ -28,9 +28,9 @@
 	<parent link="kinect2_link"/>
 	<child link="kinect2_rgb_optical_frame"/>
   </joint>
-  
+
   <!-- Gazebo -->
-  <xacro:kinect_gazebo name="kinect2"/>
+  <xacro:kinect_gazebo suffix=""  name="kinect2"/>
 
   <!-- add Jamming Gripper -->
    <!-- Link -->
@@ -56,9 +56,9 @@
     <parent link="gripper_link"/>
     <child link="balloon"/>
   </joint>
-  
+
   <!-- Gazebo -->
   <xacro:gazebo_tool_link_v0 name="gripper_link" color="Blue"/>
   <!-- <xacro:gazebo_tool_link_v0 name="balloon" color="Red"/> -->
-  
+
 </robot>
diff --git a/motoman_description/robots/sia5/sia5_with_jamming_and_kinectv2.urdf.xacro b/motoman_description/robots/sia5/sia5_with_jamming_and_kinectv2.urdf.xacro
@@ -4,12 +4,12 @@
   <xacro:include filename="$(find motoman_description)/urdf/sensor/kinect.urdf.xacro"/>
   <xacro:include filename="$(find motoman_description)/urdf/sensor/kinect.gazebo.xacro"/>
   <xacro:include filename="$(find motoman_description)/robots/sia5/sia5_with_jamming.urdf.xacro"/>
-  
+
   <!-- add Kinect V2 -->
   <!-- Link -->
   <xacro:kinect2_link_box_v0 name="kinect2_link"/>
   <link name="kinect2_rgb_optical_frame"/>
-  
+
   <!-- Joint -->
   <joint name="joint_kinect2" type="fixed">
     <origin rpy="0 ${10*M_PI/180} ${M_PI}" xyz="1.02024 0.30 0.3595"/>
@@ -22,8 +22,8 @@
 	<parent link="kinect2_link"/>
 	<child link="kinect2_rgb_optical_frame"/>
   </joint>
-  
+
   <!-- Gazebo -->
-  <xacro:kinect_gazebo name="kinect2"/>
-  
+  <xacro:kinect_gazebo suffix="" name="kinect2"/>
+
 </robot>
diff --git a/motoman_description/robots/sia5/sia5_with_kinectv2.urdf.xacro b/motoman_description/robots/sia5/sia5_with_kinectv2.urdf.xacro
@@ -4,12 +4,12 @@
   <xacro:include filename="$(find motoman_description)/urdf/sensor/kinect.urdf.xacro"/>
   <xacro:include filename="$(find motoman_description)/urdf/sensor/kinect.gazebo.xacro"/>
   <xacro:include filename="$(find motoman_description)/robots/sia5/sia5.urdf.xacro"/>
-  
+
   <!-- add Kinect V2 -->
   <!-- Link -->
   <xacro:kinect2_link_box_v0 name="kinect2_link"/>
   <link name="kinect2_rgb_optical_frame"/>
-  
+
   <!-- Joint -->
   <joint name="joint_kinect2" type="fixed">
     <origin rpy="0 ${10*M_PI/180} ${M_PI}" xyz="1.05024 0 0.3195"/>
@@ -22,8 +22,8 @@
 	<parent link="kinect2_link"/>
 	<child link="kinect2_rgb_optical_frame"/>
   </joint>
-  
+
   <!-- Gazebo -->
-  <xacro:kinect_gazebo name="kinect2"/>
-  
+  <xacro:kinect_gazebo suffix="" name="kinect2"/>
+
 </robot>